Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 148 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 148 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2075 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 350 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 25 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 31 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.69999999

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 2 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 540 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 600 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.00060000003 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -26412.814 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH -7 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 115 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2835 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 2 PITCH_GAIN 36 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.0046000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 1.34e-05 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_OFFGRID 1000 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00060000003 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 540

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0046000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -26412.814

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 1.34e-05 RAFOS_HIT_WINDOW 3600 T_MISSION 600

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 187 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2835 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2075 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 148 NAV_MODE 2 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 110107,4749.378,-12515.869,29,0.8,29,18.7 TGT_NAME ONSHORE

_CALLS 1 TGT_LATLONG 4758.000,-12457.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110749,4749.377,-12515.811,11,1.7,11,18.7 MHEAD_RNG_PITCHd_Wd 43.9,28269,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.1,1.013287 _10V_AH 10.2,15.645

SM_CCo 11311,40.65,0.490,2,0,1722,350.04 FG_AHR_24Vo 0.000

SM_GC 1.63,0.00,0.00,40.65,0.000,0.000,0.490,142,2088,1722,-8.41,0.34,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12426.72,011199,060659 MEM 298608

TT8_MAMPS 0.051389 DATA_FILE_SIZE 72662,1277

HUMID 38.38 CAP_FILE_SIZE 135792,0

INTERNAL_PRESSURE 9.01087 CFSIZE 260165632,246829056

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.054,323.3,1

_24V_AH 24.2,19.370 GPS 070810,141831,4750.260,-12514.159,57,1.1,57,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 250 118.96 SBE_CT 879 24 511.06

Roll_motor 95 128 295.72 SBE_O2 1014 19 466.61

VBD_pump_during_apogee 345 882 7382.38 WL_BBFL2VMT 1447 105 3678.66

VBD_pump_during_surface 40 490 482.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.29 nil 0 0 0.00

Iridium_during_connect 47 160 185.17 nil 0 0 0.00

Iridium_during_xfer 228 223 1231.06

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.76

TT8 0 19 0.00

LPSleep 7765 2 173.47

TT8_Active 498 19 100.68

TT8_Sampling 3012 39 1222.86

TT8_CF8 458 45 214.27

TT8_Kalman 0 0 0.00

Analog_circuits 1553 12 190.14

GPS_charging 0 0 0.00

Compass 2595 8 211.83

RAFOS 0 0 0.00

Transponder 0 30 0.16

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.45 -112.4 0.0 0.0 0 83 0.00 0.00 -68.70 0.000 2 0.000 0.000 135 2094 3092 0 0 0 0 0 0

84 -0.45 -112.4 3.3 -2.4 13 113 10.52 1.92 -11.93 0.000 4 0.251 0.080 2675 3304 3609 0 0 0 0 0 0

352 -0.43 -112.4 45.8 -13.2 63 359 0.00 1.95 0.00 0.000 6 0.000 0.051 2674 2071 3612 0 0 0 0 0 0

679 -0.41 -112.4 90.1 -12.8 124 686 0.00 1.92 0.00 0.000 4 0.000 0.058 2674 843 3613 0 0 0 0 0 0

701 -0.38 -112.4 92.7 -12.4 128 707 0.10 1.92 0.00 0.000 6 0.131 0.057 2702 2061 3613 0 0 0 0 0 0

1018 -0.38 -112.4 122.3 -9.4 165 1023 0.00 2.05 0.00 0.000 4 0.000 0.067 2698 3330 3614 0 0 0 0 0 0

1125 -0.38 -112.4 131.7 -8.9 175 1130 0.00 1.95 0.00 0.000 6 0.000 0.051 2698 2082 3614 0 0 0 0 0 0

1445 -0.38 -112.4 160.1 -8.3 206 1450 0.00 1.98 0.00 0.000 4 0.000 0.058 2698 841 3614 0 0 0 0 0 0

1488 -0.38 -112.4 164.0 -8.7 210 1493 0.00 2.00 0.00 0.000 6 0.000 0.057 2693 2100 3614 0 0 0 0 0 0

1810 -0.38 -112.4 191.1 -8.4 241 1813 0.00 1.95 0.00 0.000 4 0.000 0.067 2691 3304 3615 0 0 0 0 0 0

1878 -0.38 -112.4 197.0 -8.7 247 1885 0.00 1.90 0.00 0.000 6 0.000 0.051 2691 2093 3614 0 0 0 0 0 0

2193 -0.38 -112.4 223.7 -8.4 278 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2093 3614 0 0 0 0 0 0

2504 -0.38 -112.4 251.0 -8.8 308 2505 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2093 3614 0 0 0 0 0 0

2815 -0.38 -112.4 277.1 -8.8 338 2819 0.00 1.98 0.00 0.000 4 0.000 0.071 2691 3306 3614 0 0 0 0 0 0

2841 -0.38 -112.4 279.5 -9.4 340 2847 0.00 1.90 0.00 0.000 6 0.000 0.054 2691 2097 3614 0 0 0 0 0 0

3156 -0.38 -112.4 307.5 -9.1 371 3157 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2097 3614 0 0 0 0 0 0

3467 -0.38 -112.4 336.7 -9.3 401 3471 0.00 1.98 0.00 0.000 4 0.000 0.061 2691 845 3614 0 0 0 0 0 0

3521 -0.38 -112.4 342.0 -10.5 406 3524 0.00 1.98 0.00 0.000 6 0.000 0.060 2691 2103 3614 0 0 0 0 0 0

3840 -0.38 -112.4 372.5 -9.5 437 3845 0.00 1.98 0.00 0.000 4 0.000 0.071 2689 3319 3614 0 0 0 0 0 0

3895 -0.38 -112.4 377.6 -9.3 442 3898 0.00 1.90 0.00 0.000 6 0.000 0.054 2689 2099 3614 0 0 0 0 0 0

4214 -0.38 -112.4 405.8 -8.3 473 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2099 3614 0 0 0 0 0 0

4525 -0.38 -112.4 433.1 -8.3 503 4529 0.00 1.98 0.00 0.000 4 0.000 0.072 2685 3314 3614 0 0 0 0 0 0

4611 -0.38 -112.4 439.1 -6.0 511 4615 0.00 1.85 0.00 0.000 6 0.000 0.054 2685 2118 3614 0 0 0 0 0 0

4920 end dive: TARGET_DEPTH_EXCEEDED

state 4920 begin apogee

4924 -0.14 0.0 462.8 9.0 541 5016 0.32 0.00 90.32 0.882 6 0.123 0.000 2790 1994 3150 0 0 0 0 0 0

5016 end apogee: CONTROL_FINISHED_OK

state 5017 begin climb

5018 0.45 112.4 466.0 0.0 550 5116 0.55 2.10 91.88 0.852 4 0.090 0.066 2977 3235 2690 0 0 0 0 0 0

5147 0.45 147.2 462.8 4.8 562 5182 0.00 2.05 29.65 0.825 6 0.000 0.055 2984 2000 2550 0 0 0 0 0 0

5498 0.43 147.2 438.2 7.9 596 5502 0.00 2.05 0.00 0.000 4 0.000 0.070 2984 3226 2545 0 0 0 0 0 0

5520 0.41 147.2 436.4 8.5 598 5523 0.00 1.98 0.00 0.000 6 0.000 0.057 2986 2009 2545 0 0 0 0 0 0

5839 0.39 147.2 413.9 6.7 629 5844 0.00 2.03 0.00 0.000 4 0.000 0.070 2986 3232 2545 0 0 0 0 0 0

5919 0.37 147.2 407.9 7.4 636 5927 0.12 1.98 0.00 0.000 6 0.163 0.056 2955 2007 2544 0 0 0 0 0 0

6235 0.38 170.6 390.9 5.3 667 6261 0.00 2.08 19.73 0.813 4 0.000 0.071 2954 3241 2453 0 0 0 0 0 0

6341 0.39 180.2 385.4 5.8 677 6356 0.00 1.92 9.23 0.746 6 0.000 0.055 2955 2042 2415 0 0 0 0 0 0

6672 0.40 199.1 368.0 5.4 709 6693 0.00 0.00 17.10 0.795 6 0.000 0.000 2955 2041 2337 0 0 0 0 0 0

7003 0.41 221.0 349.3 5.3 741 7027 0.00 2.03 18.83 0.786 4 0.000 0.071 2955 3239 2249 0 0 0 0 0 0

7033 0.44 252.2 347.6 5.0 744 7064 0.00 1.92 27.27 0.781 6 0.000 0.058 2955 2050 2121 0 0 0 0 0 0

7374 0.48 273.8 328.8 5.3 777 7396 0.10 2.12 18.00 0.769 4 0.112 0.067 3007 767 2033 0 0 0 0 0 0

7426 0.48 273.8 325.1 7.7 782 7430 0.00 2.10 0.00 0.000 6 0.000 0.060 3007 2047 2032 0 0 0 0 0 0

7746 0.48 273.8 298.2 8.6 813 7751 0.00 1.98 0.00 0.000 4 0.000 0.070 3007 3236 2028 0 0 0 0 0 0

7767 0.48 273.8 296.1 10.2 815 7772 0.00 1.95 0.00 0.000 6 0.000 0.057 3012 2030 2028 0 0 0 0 0 0

8088 0.48 273.8 267.0 9.3 846 8093 0.00 2.05 0.00 0.000 4 0.000 0.066 3014 758 2028 0 0 0 0 0 0

8141 0.48 273.8 262.1 9.1 851 8146 0.00 2.05 0.00 0.000 6 0.000 0.058 3014 2037 2028 0 0 0 0 0 0

8462 0.48 273.8 228.9 10.8 882 8463 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2037 2028 0 0 0 0 0 0

8774 0.48 273.8 195.9 10.4 912 8777 0.00 1.95 0.00 0.000 4 0.000 0.068 3014 3238 2028 0 0 0 0 0 0

8788 0.48 273.8 194.0 11.2 913 8795 0.00 1.95 0.00 0.000 6 0.000 0.058 3014 2020 2028 0 0 0 0 0 0

9104 0.48 273.8 160.0 9.8 944 9108 0.00 2.00 0.00 0.000 4 0.000 0.067 3021 770 2027 0 0 0 0 0 0

9130 0.48 273.8 157.6 10.0 946 9137 0.12 2.00 0.00 0.000 6 0.150 0.059 2987 2026 2028 0 0 0 0 0 0

9446 0.49 273.8 131.3 8.5 977 9450 0.00 1.92 0.00 0.000 4 0.000 0.068 2986 3230 2028 0 0 0 0 0 0

9500 0.50 273.8 126.9 7.4 982 9503 0.00 1.88 0.00 0.000 6 0.000 0.057 2987 2040 2027 0 0 0 0 0 0

9820 0.52 285.8 106.9 5.7 1013 9834 0.00 2.05 10.50 0.645 4 0.000 0.067 2987 759 1984 0 0 0 0 0 0

9862 0.56 300.3 104.6 5.6 1017 9878 0.00 2.03 13.35 0.640 6 0.000 0.058 2987 2038 1925 0 0 0 0 0 0

10196 0.58 302.6 84.2 6.0 1071 10203 0.10 1.95 0.00 0.000 4 0.110 0.070 3034 3236 1921 0 0 0 0 0 0

10240 0.58 302.6 80.2 9.2 1079 10247 0.00 1.88 0.00 0.000 6 0.000 0.057 3037 2054 1921 0 0 0 0 0 0

10567 0.58 302.6 51.8 7.7 1140 10573 0.00 2.05 0.00 0.000 4 0.000 0.064 3041 766 1921 0 0 0 0 0 0

10652 0.58 302.6 44.6 8.5 1156 10659 0.00 2.00 0.00 0.000 6 0.000 0.059 3041 2037 1921 0 0 0 0 0 0

10979 0.58 302.6 20.8 7.4 1217 10985 0.00 2.05 0.00 0.000 4 0.000 0.066 3041 757 1920 0 0 0 0 0 0

11021 0.59 302.6 17.5 7.6 1225 11028 0.00 2.00 0.00 0.000 6 0.000 0.058 3041 2034 1920 0 0 0 0 0 0

11239 end climb: SURFACE_DEPTH_REACHED

state 11239 begin surface coast

11299 end surface coast: CONTROL_FINISHED_OK

state 11299 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	148	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2075	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	350	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	25	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	31	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.69999999
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	2	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	540	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	600	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.00060000003	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-26412.814	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	-7	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	115	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2835	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	2	PITCH_GAIN	36	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.0046000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	1.34e-05	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0

GPS1	110107,4749.378,-12515.869,29,0.8,29,18.7	TGT_NAME	ONSHORE
_CALLS	1	TGT_LATLONG	4758.000,-12457.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110749,4749.377,-12515.811,11,1.7,11,18.7	MHEAD_RNG_PITCHd_Wd	43.9,28269,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	462

FINISH	1.1,1.013287	_10V_AH	10.2,15.645
SM_CCo	11311,40.65,0.490,2,0,1722,350.04	FG_AHR_24Vo	0.000
SM_GC	1.63,0.00,0.00,40.65,0.000,0.000,0.490,142,2088,1722,-8.41,0.34,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12426.72,011199,060659	MEM	298608
TT8_MAMPS	0.051389	DATA_FILE_SIZE	72662,1277
HUMID	38.38	CAP_FILE_SIZE	135792,0
INTERNAL_PRESSURE	9.01087	CFSIZE	260165632,246829056
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.054,323.3,1
_24V_AH	24.2,19.370	GPS	070810,141831,4750.260,-12514.159,57,1.1,57,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	250	118.96	SBE_CT	879	24	511.06
Roll_motor	95	128	295.72	SBE_O2	1014	19	466.61
VBD_pump_during_apogee	345	882	7382.38	WL_BBFL2VMT	1447	105	3678.66
VBD_pump_during_surface	40	490	482.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.29	nil	0	0	0.00
Iridium_during_connect	47	160	185.17	nil	0	0	0.00
Iridium_during_xfer	228	223	1231.06
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.76
TT8	0	19	0.00
LPSleep	7765	2	173.47
TT8_Active	498	19	100.68
TT8_Sampling	3012	39	1222.86
TT8_CF8	458	45	214.27
TT8_Kalman	0	0	0.00
Analog_circuits	1553	12	190.14
GPS_charging	0	0	0.00
Compass	2595	8	211.83
RAFOS	0	0	0.00
Transponder	0	30	0.16

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.45	-112.4	0.0	0.0	0	83	0.00	0.00	-68.70	0.000	2	0.000	0.000	135	2094	3092	0	0	0	0	0	0
84	-0.45	-112.4	3.3	-2.4	13	113	10.52	1.92	-11.93	0.000	4	0.251	0.080	2675	3304	3609	0	0	0	0	0	0
352	-0.43	-112.4	45.8	-13.2	63	359	0.00	1.95	0.00	0.000	6	0.000	0.051	2674	2071	3612	0	0	0	0	0	0
679	-0.41	-112.4	90.1	-12.8	124	686	0.00	1.92	0.00	0.000	4	0.000	0.058	2674	843	3613	0	0	0	0	0	0
701	-0.38	-112.4	92.7	-12.4	128	707	0.10	1.92	0.00	0.000	6	0.131	0.057	2702	2061	3613	0	0	0	0	0	0
1018	-0.38	-112.4	122.3	-9.4	165	1023	0.00	2.05	0.00	0.000	4	0.000	0.067	2698	3330	3614	0	0	0	0	0	0
1125	-0.38	-112.4	131.7	-8.9	175	1130	0.00	1.95	0.00	0.000	6	0.000	0.051	2698	2082	3614	0	0	0	0	0	0
1445	-0.38	-112.4	160.1	-8.3	206	1450	0.00	1.98	0.00	0.000	4	0.000	0.058	2698	841	3614	0	0	0	0	0	0
1488	-0.38	-112.4	164.0	-8.7	210	1493	0.00	2.00	0.00	0.000	6	0.000	0.057	2693	2100	3614	0	0	0	0	0	0
1810	-0.38	-112.4	191.1	-8.4	241	1813	0.00	1.95	0.00	0.000	4	0.000	0.067	2691	3304	3615	0	0	0	0	0	0
1878	-0.38	-112.4	197.0	-8.7	247	1885	0.00	1.90	0.00	0.000	6	0.000	0.051	2691	2093	3614	0	0	0	0	0	0
2193	-0.38	-112.4	223.7	-8.4	278	2194	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2093	3614	0	0	0	0	0	0
2504	-0.38	-112.4	251.0	-8.8	308	2505	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2093	3614	0	0	0	0	0	0
2815	-0.38	-112.4	277.1	-8.8	338	2819	0.00	1.98	0.00	0.000	4	0.000	0.071	2691	3306	3614	0	0	0	0	0	0
2841	-0.38	-112.4	279.5	-9.4	340	2847	0.00	1.90	0.00	0.000	6	0.000	0.054	2691	2097	3614	0	0	0	0	0	0
3156	-0.38	-112.4	307.5	-9.1	371	3157	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2097	3614	0	0	0	0	0	0
3467	-0.38	-112.4	336.7	-9.3	401	3471	0.00	1.98	0.00	0.000	4	0.000	0.061	2691	845	3614	0	0	0	0	0	0
3521	-0.38	-112.4	342.0	-10.5	406	3524	0.00	1.98	0.00	0.000	6	0.000	0.060	2691	2103	3614	0	0	0	0	0	0
3840	-0.38	-112.4	372.5	-9.5	437	3845	0.00	1.98	0.00	0.000	4	0.000	0.071	2689	3319	3614	0	0	0	0	0	0
3895	-0.38	-112.4	377.6	-9.3	442	3898	0.00	1.90	0.00	0.000	6	0.000	0.054	2689	2099	3614	0	0	0	0	0	0
4214	-0.38	-112.4	405.8	-8.3	473	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2099	3614	0	0	0	0	0	0
4525	-0.38	-112.4	433.1	-8.3	503	4529	0.00	1.98	0.00	0.000	4	0.000	0.072	2685	3314	3614	0	0	0	0	0	0
4611	-0.38	-112.4	439.1	-6.0	511	4615	0.00	1.85	0.00	0.000	6	0.000	0.054	2685	2118	3614	0	0	0	0	0	0
4920	end dive: TARGET_DEPTH_EXCEEDED
state	4920	begin apogee
4924	-0.14	0.0	462.8	9.0	541	5016	0.32	0.00	90.32	0.882	6	0.123	0.000	2790	1994	3150	0	0	0	0	0	0
5016	end apogee: CONTROL_FINISHED_OK
state	5017	begin climb
5018	0.45	112.4	466.0	0.0	550	5116	0.55	2.10	91.88	0.852	4	0.090	0.066	2977	3235	2690	0	0	0	0	0	0
5147	0.45	147.2	462.8	4.8	562	5182	0.00	2.05	29.65	0.825	6	0.000	0.055	2984	2000	2550	0	0	0	0	0	0
5498	0.43	147.2	438.2	7.9	596	5502	0.00	2.05	0.00	0.000	4	0.000	0.070	2984	3226	2545	0	0	0	0	0	0
5520	0.41	147.2	436.4	8.5	598	5523	0.00	1.98	0.00	0.000	6	0.000	0.057	2986	2009	2545	0	0	0	0	0	0
5839	0.39	147.2	413.9	6.7	629	5844	0.00	2.03	0.00	0.000	4	0.000	0.070	2986	3232	2545	0	0	0	0	0	0
5919	0.37	147.2	407.9	7.4	636	5927	0.12	1.98	0.00	0.000	6	0.163	0.056	2955	2007	2544	0	0	0	0	0	0
6235	0.38	170.6	390.9	5.3	667	6261	0.00	2.08	19.73	0.813	4	0.000	0.071	2954	3241	2453	0	0	0	0	0	0
6341	0.39	180.2	385.4	5.8	677	6356	0.00	1.92	9.23	0.746	6	0.000	0.055	2955	2042	2415	0	0	0	0	0	0
6672	0.40	199.1	368.0	5.4	709	6693	0.00	0.00	17.10	0.795	6	0.000	0.000	2955	2041	2337	0	0	0	0	0	0
7003	0.41	221.0	349.3	5.3	741	7027	0.00	2.03	18.83	0.786	4	0.000	0.071	2955	3239	2249	0	0	0	0	0	0
7033	0.44	252.2	347.6	5.0	744	7064	0.00	1.92	27.27	0.781	6	0.000	0.058	2955	2050	2121	0	0	0	0	0	0
7374	0.48	273.8	328.8	5.3	777	7396	0.10	2.12	18.00	0.769	4	0.112	0.067	3007	767	2033	0	0	0	0	0	0
7426	0.48	273.8	325.1	7.7	782	7430	0.00	2.10	0.00	0.000	6	0.000	0.060	3007	2047	2032	0	0	0	0	0	0
7746	0.48	273.8	298.2	8.6	813	7751	0.00	1.98	0.00	0.000	4	0.000	0.070	3007	3236	2028	0	0	0	0	0	0
7767	0.48	273.8	296.1	10.2	815	7772	0.00	1.95	0.00	0.000	6	0.000	0.057	3012	2030	2028	0	0	0	0	0	0
8088	0.48	273.8	267.0	9.3	846	8093	0.00	2.05	0.00	0.000	4	0.000	0.066	3014	758	2028	0	0	0	0	0	0
8141	0.48	273.8	262.1	9.1	851	8146	0.00	2.05	0.00	0.000	6	0.000	0.058	3014	2037	2028	0	0	0	0	0	0
8462	0.48	273.8	228.9	10.8	882	8463	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2037	2028	0	0	0	0	0	0
8774	0.48	273.8	195.9	10.4	912	8777	0.00	1.95	0.00	0.000	4	0.000	0.068	3014	3238	2028	0	0	0	0	0	0
8788	0.48	273.8	194.0	11.2	913	8795	0.00	1.95	0.00	0.000	6	0.000	0.058	3014	2020	2028	0	0	0	0	0	0
9104	0.48	273.8	160.0	9.8	944	9108	0.00	2.00	0.00	0.000	4	0.000	0.067	3021	770	2027	0	0	0	0	0	0
9130	0.48	273.8	157.6	10.0	946	9137	0.12	2.00	0.00	0.000	6	0.150	0.059	2987	2026	2028	0	0	0	0	0	0
9446	0.49	273.8	131.3	8.5	977	9450	0.00	1.92	0.00	0.000	4	0.000	0.068	2986	3230	2028	0	0	0	0	0	0
9500	0.50	273.8	126.9	7.4	982	9503	0.00	1.88	0.00	0.000	6	0.000	0.057	2987	2040	2027	0	0	0	0	0	0
9820	0.52	285.8	106.9	5.7	1013	9834	0.00	2.05	10.50	0.645	4	0.000	0.067	2987	759	1984	0	0	0	0	0	0
9862	0.56	300.3	104.6	5.6	1017	9878	0.00	2.03	13.35	0.640	6	0.000	0.058	2987	2038	1925	0	0	0	0	0	0
10196	0.58	302.6	84.2	6.0	1071	10203	0.10	1.95	0.00	0.000	4	0.110	0.070	3034	3236	1921	0	0	0	0	0	0
10240	0.58	302.6	80.2	9.2	1079	10247	0.00	1.88	0.00	0.000	6	0.000	0.057	3037	2054	1921	0	0	0	0	0	0
10567	0.58	302.6	51.8	7.7	1140	10573	0.00	2.05	0.00	0.000	4	0.000	0.064	3041	766	1921	0	0	0	0	0	0
10652	0.58	302.6	44.6	8.5	1156	10659	0.00	2.00	0.00	0.000	6	0.000	0.059	3041	2037	1921	0	0	0	0	0	0
10979	0.58	302.6	20.8	7.4	1217	10985	0.00	2.05	0.00	0.000	4	0.000	0.066	3041	757	1920	0	0	0	0	0	0
11021	0.59	302.6	17.5	7.6	1225	11028	0.00	2.00	0.00	0.000	6	0.000	0.058	3041	2034	1920	0	0	0	0	0	0
11239	end climb: SURFACE_DEPTH_REACHED
state	11239	begin surface coast
11299	end surface coast: CONTROL_FINISHED_OK
state	11299	begin surface