Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 251 * 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 251 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 34 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 24 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 -28638.018 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 -28638.018

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 34 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 24 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 251 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 222755,4749.680,-12511.903,71,0.9,91,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 223337,4749.629,-12511.877,11,1.2,16,18.7 MHEAD_RNG_PITCHd_Wd 196.3,164615,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 368

Post-dive calculations and measurements:

FINISH 0.9,1.024009 _10V_AH 10.3,22.246

SM_CCo 10411,0.00,0.000,0,0,1542,394.44 FG_AHR_24Vo 0.000

SM_GC 1.56,7.80,0.00,0.00,0.043,0.000,0.000,142,2051,1542,-8.34,-0.68,394.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12500.57,051199,202050 MEM 298604

TT8_MAMPS 0.052923 DATA_FILE_SIZE 66460,1203

HUMID 39.84 CAP_FILE_SIZE 121561,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260165632,242970624

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.024,129.1,1

_24V_AH 24.2,26.692 GPS 120810,012804,4748.534,-12512.949,14,4.5,34,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 249 117.78 SBE_CT 827 24 480.60

Roll_motor 67 98 160.07 SBE_O2 931 19 428.28

VBD_pump_during_apogee 413 817 8187.14 WL_BBFL2VMT 1447 105 3679.17

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.34 nil 0 0 0.00

Iridium_during_connect 34 160 131.86 nil 0 0 0.00

Iridium_during_xfer 182 223 983.75

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.61

TT8 0 19 0.00

LPSleep 7024 2 158.45

TT8_Active 451 19 92.06

TT8_Sampling 2835 39 1162.24

TT8_CF8 423 45 199.97

TT8_Kalman 0 0 0.00

Analog_circuits 1443 12 178.38

GPS_charging 0 0 0.00

Compass 2456 8 202.38

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 75 0.00 0.00 -60.78 0.000 2 0.000 0.000 133 2062 3148 0 0 0 0 0 0

77 -0.45 -112.4 3.5 -3.4 11 105 10.50 2.08 -9.85 0.000 4 0.249 0.081 2674 3317 3612 0 0 0 0 0 0

201 -0.43 -112.4 26.1 -14.7 34 208 0.00 1.98 0.00 0.000 6 0.000 0.053 2674 2078 3614 0 0 0 0 0 0

528 -0.41 -112.4 69.8 -10.8 95 534 0.00 2.03 0.00 0.000 4 0.000 0.068 2670 3312 3616 0 0 0 0 0 0

555 -0.39 -112.4 72.7 -10.7 100 561 0.10 1.95 0.00 0.000 6 0.131 0.052 2704 2072 3616 0 0 0 0 0 0

884 -0.39 -112.4 106.0 -9.1 156 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2071 3617 0 0 0 0 0 0

1196 -0.39 -112.4 134.8 -8.6 186 1199 0.00 1.98 0.00 0.000 4 0.000 0.069 2701 3310 3617 0 0 0 0 0 0

1253 -0.39 -112.4 139.6 -8.2 191 1259 0.00 1.98 0.00 0.000 6 0.000 0.052 2701 2057 3617 0 0 0 0 0 0

1568 -0.39 -112.4 165.6 -8.5 222 1573 0.00 2.03 0.00 0.000 4 0.000 0.068 2700 3313 3617 0 0 0 0 0 0

1600 -0.39 -112.4 168.2 -8.4 225 1605 0.00 1.95 0.00 0.000 6 0.000 0.053 2700 2067 3617 0 0 0 0 0 0

1922 -0.39 -112.4 195.6 -8.5 256 1925 0.00 2.00 0.00 0.000 4 0.000 0.070 2700 3310 3617 0 0 0 0 0 0

1947 -0.39 -112.4 197.8 -8.2 258 1956 0.00 1.95 0.00 0.000 6 0.000 0.053 2700 2073 3617 0 0 0 0 0 0

2264 -0.39 -112.4 223.1 -8.4 289 2267 0.00 2.00 0.00 0.000 4 0.000 0.070 2700 3315 3617 0 0 0 0 0 0

2305 -0.40 -112.4 226.6 -8.6 293 2310 0.00 1.92 0.00 0.000 6 0.000 0.054 2700 2082 3617 0 0 0 0 0 0

2626 -0.40 -112.4 250.9 -7.0 324 2627 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2081 3618 0 0 0 0 0 0

2937 -0.40 -112.4 271.4 -6.9 354 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2081 3618 0 0 0 0 0 0

3248 -0.40 -112.4 295.5 -8.1 384 3252 0.00 1.98 0.00 0.000 4 0.000 0.071 2700 3313 3618 0 0 0 0 0 0

3300 -0.42 -112.4 299.7 -7.5 389 3304 0.00 1.92 0.00 0.000 6 0.000 0.054 2700 2078 3618 0 0 0 0 0 0

3621 -0.42 -112.4 326.1 -8.1 420 3625 0.00 1.98 0.00 0.000 4 0.000 0.069 2700 3310 3618 0 0 0 0 0 0

3647 -0.43 -112.4 328.4 -8.3 422 3655 0.00 1.90 0.00 0.000 6 0.000 0.054 2700 2088 3618 0 0 0 0 0 0

3963 -0.43 -112.4 354.2 -8.7 453 3968 0.00 1.95 0.00 0.000 4 0.000 0.071 2700 3306 3619 0 0 0 0 0 0

4000 -0.44 -112.4 357.2 -8.5 456 4007 0.00 1.90 0.00 0.000 6 0.000 0.054 2700 2086 3619 0 0 0 0 0 0

4129 end dive: TARGET_DEPTH_EXCEEDED

state 4129 begin apogee

4132 -0.14 0.0 368.3 8.5 469 4225 0.28 0.00 90.18 0.818 6 0.127 0.000 2788 1994 3150 0 0 0 0 0 0

4225 end apogee: CONTROL_FINISHED_OK

state 4225 begin climb

4227 0.45 112.4 372.8 0.0 478 4321 0.55 0.00 91.00 0.790 6 0.092 0.000 2975 1994 2691 0 0 0 0 0 0

4629 0.47 153.3 358.0 4.6 517 4669 0.00 2.10 33.53 0.778 4 0.000 0.068 2975 3233 2523 0 0 0 0 0 0

4812 0.45 153.3 345.9 6.9 534 4820 0.00 1.98 0.00 0.000 6 0.000 0.055 2981 2014 2520 0 0 0 0 0 0

5129 0.45 153.3 325.8 6.4 565 5132 0.00 1.98 0.00 0.000 4 0.000 0.065 2986 764 2519 0 0 0 0 0 0

5160 0.45 153.3 323.6 6.4 568 5163 0.00 2.00 0.00 0.000 6 0.000 0.060 2986 2011 2519 0 0 0 0 0 0

5480 0.44 153.3 301.2 7.3 599 5484 0.00 2.00 0.00 0.000 4 0.000 0.069 2986 3231 2519 0 0 0 0 0 0

5571 0.43 153.3 294.0 8.2 607 5577 0.00 1.92 0.00 0.000 6 0.000 0.056 2986 2018 2518 0 0 0 0 0 0

5886 0.42 153.3 272.9 6.2 638 5890 0.00 1.98 0.00 0.000 4 0.000 0.068 2986 3226 2518 0 0 0 0 0 0

5928 0.40 153.3 269.9 6.9 642 5933 0.00 1.90 0.00 0.000 6 0.000 0.057 2986 2024 2518 0 0 0 0 0 0

6250 0.40 153.3 249.3 6.3 673 6251 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2022 2518 0 0 0 0 0 0

6561 0.40 153.3 227.8 7.6 703 6562 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2022 2518 0 0 0 0 0 0

6872 0.39 153.3 207.0 6.1 733 6875 0.00 1.95 0.00 0.000 4 0.000 0.069 2986 3235 2518 0 0 0 0 0 0

6983 0.37 153.3 199.4 7.4 743 6989 0.08 1.90 0.00 0.000 6 0.136 0.056 2961 2033 2518 0 0 0 0 0 0

7298 0.37 157.1 182.4 6.0 774 7302 0.00 0.00 3.60 0.482 6 0.000 0.000 2961 2031 2509 0 0 0 0 0 0

7608 0.38 165.2 163.6 5.8 804 7620 0.00 0.00 8.32 0.650 6 0.000 0.000 2961 2031 2476 0 0 0 0 0 0

7930 0.38 175.7 145.7 5.7 835 7941 0.00 0.00 10.12 0.653 6 0.000 0.000 2960 2031 2433 0 0 0 0 0 0

8249 0.42 215.7 128.5 4.6 866 8284 0.00 0.00 33.03 0.671 6 0.000 0.000 2961 2031 2270 0 0 0 0 0 0

8590 0.45 237.0 110.9 5.3 899 8612 0.00 1.95 18.12 0.647 4 0.000 0.066 2961 3232 2181 0 0 0 0 0 0

8643 0.47 237.0 108.0 6.4 904 8647 0.00 1.90 0.00 0.000 6 0.000 0.056 2961 2050 2179 0 0 0 0 0 0

8964 0.55 330.7 95.4 2.7 947 9041 0.15 0.00 74.72 0.640 6 0.087 0.000 3025 2049 1801 0 0 0 0 0 0

9362 0.56 330.7 59.8 9.8 1021 9368 0.00 2.08 0.00 0.000 4 0.000 0.067 3026 766 1792 0 0 0 0 0 0

9421 0.59 330.7 55.5 6.9 1032 9426 0.00 2.05 0.00 0.000 6 0.000 0.059 3026 2047 1792 0 0 0 0 0 0

9747 0.62 347.9 35.9 5.5 1093 9764 0.00 0.00 13.73 0.593 6 0.000 0.000 3026 2047 1730 0 0 0 0 0 0

10086 0.66 369.8 15.9 5.3 1156 10108 0.00 2.05 18.25 0.589 4 0.000 0.065 3026 757 1640 0 0 0 0 0 0

10134 0.71 391.8 13.2 5.3 1165 10158 0.08 2.08 19.17 0.574 6 0.068 0.059 3072 2048 1551 0 0 0 0 0 0

10290 end climb: SURFACE_DEPTH_REACHED

state 10290 begin surface coast

10338 end surface coast: CONTROL_FINISHED_OK

state 10338 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	251	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	34	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	24	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	-28638.018	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	222755,4749.680,-12511.903,71,0.9,91,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	223337,4749.629,-12511.877,11,1.2,16,18.7	MHEAD_RNG_PITCHd_Wd	196.3,164615,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	368

FINISH	0.9,1.024009	_10V_AH	10.3,22.246
SM_CCo	10411,0.00,0.000,0,0,1542,394.44	FG_AHR_24Vo	0.000
SM_GC	1.56,7.80,0.00,0.00,0.043,0.000,0.000,142,2051,1542,-8.34,-0.68,394.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12500.57,051199,202050	MEM	298604
TT8_MAMPS	0.052923	DATA_FILE_SIZE	66460,1203
HUMID	39.84	CAP_FILE_SIZE	121561,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260165632,242970624
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.024,129.1,1
_24V_AH	24.2,26.692	GPS	120810,012804,4748.534,-12512.949,14,4.5,34,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	249	117.78	SBE_CT	827	24	480.60
Roll_motor	67	98	160.07	SBE_O2	931	19	428.28
VBD_pump_during_apogee	413	817	8187.14	WL_BBFL2VMT	1447	105	3679.17
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.34	nil	0	0	0.00
Iridium_during_connect	34	160	131.86	nil	0	0	0.00
Iridium_during_xfer	182	223	983.75
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.61
TT8	0	19	0.00
LPSleep	7024	2	158.45
TT8_Active	451	19	92.06
TT8_Sampling	2835	39	1162.24
TT8_CF8	423	45	199.97
TT8_Kalman	0	0	0.00
Analog_circuits	1443	12	178.38
GPS_charging	0	0	0.00
Compass	2456	8	202.38
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	75	0.00	0.00	-60.78	0.000	2	0.000	0.000	133	2062	3148	0	0	0	0	0	0
77	-0.45	-112.4	3.5	-3.4	11	105	10.50	2.08	-9.85	0.000	4	0.249	0.081	2674	3317	3612	0	0	0	0	0	0
201	-0.43	-112.4	26.1	-14.7	34	208	0.00	1.98	0.00	0.000	6	0.000	0.053	2674	2078	3614	0	0	0	0	0	0
528	-0.41	-112.4	69.8	-10.8	95	534	0.00	2.03	0.00	0.000	4	0.000	0.068	2670	3312	3616	0	0	0	0	0	0
555	-0.39	-112.4	72.7	-10.7	100	561	0.10	1.95	0.00	0.000	6	0.131	0.052	2704	2072	3616	0	0	0	0	0	0
884	-0.39	-112.4	106.0	-9.1	156	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2071	3617	0	0	0	0	0	0
1196	-0.39	-112.4	134.8	-8.6	186	1199	0.00	1.98	0.00	0.000	4	0.000	0.069	2701	3310	3617	0	0	0	0	0	0
1253	-0.39	-112.4	139.6	-8.2	191	1259	0.00	1.98	0.00	0.000	6	0.000	0.052	2701	2057	3617	0	0	0	0	0	0
1568	-0.39	-112.4	165.6	-8.5	222	1573	0.00	2.03	0.00	0.000	4	0.000	0.068	2700	3313	3617	0	0	0	0	0	0
1600	-0.39	-112.4	168.2	-8.4	225	1605	0.00	1.95	0.00	0.000	6	0.000	0.053	2700	2067	3617	0	0	0	0	0	0
1922	-0.39	-112.4	195.6	-8.5	256	1925	0.00	2.00	0.00	0.000	4	0.000	0.070	2700	3310	3617	0	0	0	0	0	0
1947	-0.39	-112.4	197.8	-8.2	258	1956	0.00	1.95	0.00	0.000	6	0.000	0.053	2700	2073	3617	0	0	0	0	0	0
2264	-0.39	-112.4	223.1	-8.4	289	2267	0.00	2.00	0.00	0.000	4	0.000	0.070	2700	3315	3617	0	0	0	0	0	0
2305	-0.40	-112.4	226.6	-8.6	293	2310	0.00	1.92	0.00	0.000	6	0.000	0.054	2700	2082	3617	0	0	0	0	0	0
2626	-0.40	-112.4	250.9	-7.0	324	2627	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2081	3618	0	0	0	0	0	0
2937	-0.40	-112.4	271.4	-6.9	354	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2081	3618	0	0	0	0	0	0
3248	-0.40	-112.4	295.5	-8.1	384	3252	0.00	1.98	0.00	0.000	4	0.000	0.071	2700	3313	3618	0	0	0	0	0	0
3300	-0.42	-112.4	299.7	-7.5	389	3304	0.00	1.92	0.00	0.000	6	0.000	0.054	2700	2078	3618	0	0	0	0	0	0
3621	-0.42	-112.4	326.1	-8.1	420	3625	0.00	1.98	0.00	0.000	4	0.000	0.069	2700	3310	3618	0	0	0	0	0	0
3647	-0.43	-112.4	328.4	-8.3	422	3655	0.00	1.90	0.00	0.000	6	0.000	0.054	2700	2088	3618	0	0	0	0	0	0
3963	-0.43	-112.4	354.2	-8.7	453	3968	0.00	1.95	0.00	0.000	4	0.000	0.071	2700	3306	3619	0	0	0	0	0	0
4000	-0.44	-112.4	357.2	-8.5	456	4007	0.00	1.90	0.00	0.000	6	0.000	0.054	2700	2086	3619	0	0	0	0	0	0
4129	end dive: TARGET_DEPTH_EXCEEDED
state	4129	begin apogee
4132	-0.14	0.0	368.3	8.5	469	4225	0.28	0.00	90.18	0.818	6	0.127	0.000	2788	1994	3150	0	0	0	0	0	0
4225	end apogee: CONTROL_FINISHED_OK
state	4225	begin climb
4227	0.45	112.4	372.8	0.0	478	4321	0.55	0.00	91.00	0.790	6	0.092	0.000	2975	1994	2691	0	0	0	0	0	0
4629	0.47	153.3	358.0	4.6	517	4669	0.00	2.10	33.53	0.778	4	0.000	0.068	2975	3233	2523	0	0	0	0	0	0
4812	0.45	153.3	345.9	6.9	534	4820	0.00	1.98	0.00	0.000	6	0.000	0.055	2981	2014	2520	0	0	0	0	0	0
5129	0.45	153.3	325.8	6.4	565	5132	0.00	1.98	0.00	0.000	4	0.000	0.065	2986	764	2519	0	0	0	0	0	0
5160	0.45	153.3	323.6	6.4	568	5163	0.00	2.00	0.00	0.000	6	0.000	0.060	2986	2011	2519	0	0	0	0	0	0
5480	0.44	153.3	301.2	7.3	599	5484	0.00	2.00	0.00	0.000	4	0.000	0.069	2986	3231	2519	0	0	0	0	0	0
5571	0.43	153.3	294.0	8.2	607	5577	0.00	1.92	0.00	0.000	6	0.000	0.056	2986	2018	2518	0	0	0	0	0	0
5886	0.42	153.3	272.9	6.2	638	5890	0.00	1.98	0.00	0.000	4	0.000	0.068	2986	3226	2518	0	0	0	0	0	0
5928	0.40	153.3	269.9	6.9	642	5933	0.00	1.90	0.00	0.000	6	0.000	0.057	2986	2024	2518	0	0	0	0	0	0
6250	0.40	153.3	249.3	6.3	673	6251	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2022	2518	0	0	0	0	0	0
6561	0.40	153.3	227.8	7.6	703	6562	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2022	2518	0	0	0	0	0	0
6872	0.39	153.3	207.0	6.1	733	6875	0.00	1.95	0.00	0.000	4	0.000	0.069	2986	3235	2518	0	0	0	0	0	0
6983	0.37	153.3	199.4	7.4	743	6989	0.08	1.90	0.00	0.000	6	0.136	0.056	2961	2033	2518	0	0	0	0	0	0
7298	0.37	157.1	182.4	6.0	774	7302	0.00	0.00	3.60	0.482	6	0.000	0.000	2961	2031	2509	0	0	0	0	0	0
7608	0.38	165.2	163.6	5.8	804	7620	0.00	0.00	8.32	0.650	6	0.000	0.000	2961	2031	2476	0	0	0	0	0	0
7930	0.38	175.7	145.7	5.7	835	7941	0.00	0.00	10.12	0.653	6	0.000	0.000	2960	2031	2433	0	0	0	0	0	0
8249	0.42	215.7	128.5	4.6	866	8284	0.00	0.00	33.03	0.671	6	0.000	0.000	2961	2031	2270	0	0	0	0	0	0
8590	0.45	237.0	110.9	5.3	899	8612	0.00	1.95	18.12	0.647	4	0.000	0.066	2961	3232	2181	0	0	0	0	0	0
8643	0.47	237.0	108.0	6.4	904	8647	0.00	1.90	0.00	0.000	6	0.000	0.056	2961	2050	2179	0	0	0	0	0	0
8964	0.55	330.7	95.4	2.7	947	9041	0.15	0.00	74.72	0.640	6	0.087	0.000	3025	2049	1801	0	0	0	0	0	0
9362	0.56	330.7	59.8	9.8	1021	9368	0.00	2.08	0.00	0.000	4	0.000	0.067	3026	766	1792	0	0	0	0	0	0
9421	0.59	330.7	55.5	6.9	1032	9426	0.00	2.05	0.00	0.000	6	0.000	0.059	3026	2047	1792	0	0	0	0	0	0
9747	0.62	347.9	35.9	5.5	1093	9764	0.00	0.00	13.73	0.593	6	0.000	0.000	3026	2047	1730	0	0	0	0	0	0
10086	0.66	369.8	15.9	5.3	1156	10108	0.00	2.05	18.25	0.589	4	0.000	0.065	3026	757	1640	0	0	0	0	0	0
10134	0.71	391.8	13.2	5.3	1165	10158	0.08	2.08	19.17	0.574	6	0.068	0.059	3072	2048	1551	0	0	0	0	0	0
10290	end climb: SURFACE_DEPTH_REACHED
state	10290	begin surface coast
10338	end surface coast: CONTROL_FINISHED_OK
state	10338	begin surface