Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 315 * 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 315 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 3 N_FILEKB 4 R_PORT_OVSHOOT 25 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 23 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 -29795.594 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 -29795.594

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 23 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 315 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 3 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 130831,4750.293,-12514.718,43,1.0,43,18.7 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 2.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131449,4750.280,-12514.787,12,1.4,12,18.7 MHEAD_RNG_PITCHd_Wd 80.0,26285,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 381

Post-dive calculations and measurements:

FINISH 1.2,1.014680 _10V_AH 10.2,32.583

SM_CCo 10207,0.00,0.000,0,0,1602,379.48 FG_AHR_24Vo 0.000

SM_GC 2.04,7.70,0.00,0.00,0.045,0.000,0.000,147,2051,1602,-8.33,-0.68,379.48 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12521.83,241199,090955 MEM 298588

TT8_MAMPS 0.052156 DATA_FILE_SIZE 66418,1185

HUMID 38.73 CAP_FILE_SIZE 122314,0

INTERNAL_PRESSURE 8.99133 CFSIZE 260165632,235720704

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.127,310.4,1

_24V_AH 24.2,35.683 GPS 300810,160606,4750.512,-12513.482,40,1.1,47,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 240 111.98 SBE_CT 813 24 472.57

Roll_motor 78 89 170.75 SBE_O2 939 19 432.09

VBD_pump_during_apogee 400 834 8084.48 WL_BBFL2VMT 1437 105 3653.82

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 70.45 nil 0 0 0.00

Iridium_during_connect 32 160 125.34 nil 0 0 0.00

Iridium_during_xfer 203 223 1096.55

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.25

TT8 0 19 0.00

LPSleep 6829 2 152.57

TT8_Active 462 19 93.45

TT8_Sampling 2795 39 1134.79

TT8_CF8 469 45 219.40

TT8_Kalman 0 0 0.00

Analog_circuits 1451 12 177.65

GPS_charging 0 0 0.00

Compass 2424 8 197.81

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.45 -112.4 0.0 0.0 0 72 0.00 0.00 -58.17 0.000 2 0.000 0.000 134 2075 2989 0 0 0 0 0 0

74 -0.45 -112.4 3.1 -1.8 11 107 10.38 2.03 -15.02 0.000 4 0.240 0.080 2676 3317 3611 0 0 0 0 0 0

161 -0.43 -112.4 19.4 -16.6 27 166 0.00 1.98 0.00 0.000 6 0.000 0.053 2676 2078 3613 0 0 0 0 0 0

487 -0.41 -112.4 67.1 -13.0 88 493 0.00 2.03 0.00 0.000 4 0.000 0.067 2667 3310 3614 0 0 0 0 0 0

530 -0.39 -112.4 72.5 -12.6 96 535 0.10 1.92 0.00 0.000 6 0.130 0.051 2701 2084 3614 0 0 0 0 0 0

854 -0.39 -112.4 103.5 -8.0 153 857 0.00 1.95 0.00 0.000 4 0.000 0.058 2702 840 3615 0 0 0 0 0 0

961 -0.39 -112.4 111.7 -7.3 163 964 0.00 1.95 0.00 0.000 6 0.000 0.057 2701 2073 3615 0 0 0 0 0 0

1281 -0.39 -112.4 135.6 -7.5 194 1285 0.00 2.00 0.00 0.000 4 0.000 0.067 2695 3311 3616 0 0 0 0 0 0

1323 -0.39 -112.4 138.9 -7.7 198 1327 0.00 1.95 0.00 0.000 6 0.000 0.051 2695 2065 3615 0 0 0 0 0 0

1645 -0.39 -112.4 166.8 -9.0 229 1645 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2065 3615 0 0 0 0 0 0

1956 -0.39 -112.4 196.7 -9.9 259 1959 0.00 1.92 0.00 0.000 4 0.000 0.060 2695 835 3615 0 0 0 0 0 0

1981 -0.39 -112.4 199.4 -10.3 261 1988 0.00 1.95 0.00 0.000 6 0.000 0.058 2695 2072 3615 0 0 0 0 0 0

2297 -0.39 -112.4 230.0 -9.3 292 2300 0.00 2.00 0.00 0.000 4 0.000 0.067 2692 3312 3615 0 0 0 0 0 0

2349 -0.39 -112.4 235.1 -9.2 297 2354 0.00 1.90 0.00 0.000 6 0.000 0.052 2692 2094 3615 0 0 0 0 0 0

2671 -0.39 -112.4 263.3 -8.3 328 2674 0.00 1.95 0.00 0.000 4 0.000 0.058 2691 842 3614 0 0 0 0 0 0

2703 -0.39 -112.4 266.1 -8.9 331 2706 0.00 1.95 0.00 0.000 6 0.000 0.058 2691 2082 3614 0 0 0 0 0 0

3023 -0.39 -112.4 291.5 -7.5 362 3027 0.00 1.98 0.00 0.000 4 0.000 0.068 2691 3303 3614 0 0 0 0 0 0

3065 -0.39 -112.4 294.7 -7.3 366 3069 0.00 1.90 0.00 0.000 6 0.000 0.052 2691 2085 3614 0 0 0 0 0 0

3387 -0.39 -112.4 319.1 -7.3 397 3390 0.00 1.98 0.00 0.000 4 0.000 0.061 2691 841 3614 0 0 0 0 0 0

3412 -0.39 -112.4 321.3 -8.8 399 3419 0.00 1.95 0.00 0.000 6 0.000 0.058 2691 2077 3613 0 0 0 0 0 0

3729 -0.39 -112.4 344.6 -7.4 430 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2078 3613 0 0 0 0 0 0

4040 -0.39 -112.4 368.1 -7.7 460 4043 0.00 1.98 0.00 0.000 4 0.000 0.069 2691 3314 3613 0 0 0 0 0 0

4108 -0.40 -112.4 373.4 -7.7 466 4115 0.00 1.90 0.00 0.000 6 0.000 0.054 2691 2095 3613 0 0 0 0 0 0

4215 end dive: TARGET_DEPTH_EXCEEDED

state 4215 begin apogee

4219 -0.14 0.0 381.8 7.8 477 4310 0.30 0.00 89.18 0.834 6 0.127 0.000 2788 1985 3150 0 0 0 0 0 0

4311 end apogee: CONTROL_FINISHED_OK

state 4311 begin climb

4312 0.45 112.4 385.1 0.0 486 4409 0.57 0.00 91.40 0.804 6 0.090 0.000 2979 1985 2690 0 0 0 0 0 0

4718 0.45 127.5 366.7 5.6 526 4739 0.00 2.10 12.95 0.752 4 0.000 0.064 2979 3239 2629 0 0 0 0 0 0

4807 0.43 127.5 360.9 6.8 534 4814 0.00 1.98 0.00 0.000 6 0.000 0.053 2985 2016 2628 0 0 0 0 0 0

5123 0.41 127.5 340.2 6.7 565 5126 0.00 2.00 0.00 0.000 4 0.000 0.066 2985 3243 2627 0 0 0 0 0 0

5202 0.39 127.5 334.3 7.5 572 5208 0.00 1.92 0.00 0.000 6 0.000 0.054 2988 2032 2626 0 0 0 0 0 0

5517 0.37 127.5 313.6 6.2 603 5522 0.12 2.03 0.00 0.000 4 0.161 0.064 2960 773 2626 0 0 0 0 0 0

5561 0.39 154.8 311.4 5.1 607 5592 0.00 2.00 22.85 0.772 6 0.000 0.058 2960 2047 2518 0 0 0 0 0 0

5901 0.39 166.9 292.3 5.7 640 5916 0.00 1.92 11.30 0.728 4 0.000 0.064 2961 3242 2468 0 0 0 0 0 0

5964 0.39 166.9 288.5 6.5 645 5970 0.00 1.90 0.00 0.000 6 0.000 0.054 2960 2053 2467 0 0 0 0 0 0

6280 0.40 183.8 271.3 5.5 676 6300 0.00 2.08 15.05 0.737 4 0.000 0.064 2962 770 2400 0 0 0 0 0 0

6326 0.43 211.8 268.9 5.1 680 6354 0.00 2.05 24.02 0.739 6 0.000 0.058 2962 2046 2286 0 0 0 0 0 0

6662 0.46 230.1 249.9 5.4 713 6684 0.00 1.95 16.02 0.724 4 0.000 0.066 2962 3231 2208 0 0 0 0 0 0

6720 0.47 230.1 246.5 6.6 718 6727 0.00 1.90 0.00 0.000 6 0.000 0.055 2962 2057 2206 0 0 0 0 0 0

7036 0.51 268.7 230.0 4.7 749 7069 0.10 0.00 31.75 0.729 6 0.109 0.000 3009 2054 2055 0 0 0 0 0 0

7378 0.51 268.7 205.0 7.1 782 7378 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2054 2048 0 0 0 0 0 0

7689 0.51 268.7 180.4 8.8 812 7690 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2054 2047 0 0 0 0 0 0

8000 0.51 268.7 152.4 9.0 842 8003 0.00 1.90 0.00 0.000 4 0.000 0.067 3009 3244 2046 0 0 0 0 0 0

8020 0.51 268.7 150.3 9.7 844 8024 0.00 1.90 0.00 0.000 6 0.000 0.057 3012 2053 2045 0 0 0 0 0 0

8340 0.51 268.7 120.6 9.0 875 8345 0.00 2.05 0.00 0.000 4 0.000 0.064 3013 762 2046 0 0 0 0 0 0

8378 0.51 268.7 117.6 8.4 878 8385 0.00 2.03 0.00 0.000 6 0.000 0.056 3013 2044 2046 0 0 0 0 0 0

8697 0.51 272.3 94.4 6.0 917 8702 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2044 2045 0 0 0 0 0 0

9022 0.51 272.3 77.3 6.6 978 9029 0.00 1.92 0.00 0.000 4 0.000 0.066 3013 3236 2045 0 0 0 0 0 0

9103 0.51 272.3 70.2 9.5 993 9109 0.00 1.88 0.00 0.000 6 0.000 0.054 3013 2044 2044 0 0 0 0 0 0

9431 0.52 272.3 42.0 7.1 1054 9436 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2043 2045 0 0 0 0 0 0

9757 0.58 332.5 25.9 3.9 1115 9811 0.00 1.92 50.00 0.615 4 0.000 0.064 3013 3236 1794 0 0 0 0 0 0

9844 0.63 376.9 22.2 4.5 1131 9889 0.00 1.90 35.80 0.594 6 0.000 0.054 3013 2051 1613 0 0 0 0 0 0

10100 end climb: SURFACE_DEPTH_REACHED

state 10100 begin surface coast

10134 end surface coast: CONTROL_FINISHED_OK

state 10134 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	315	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	3	N_FILEKB	4	R_PORT_OVSHOOT	25	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	23	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	-29795.594	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	130831,4750.293,-12514.718,43,1.0,43,18.7	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	2.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131449,4750.280,-12514.787,12,1.4,12,18.7	MHEAD_RNG_PITCHd_Wd	80.0,26285,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	381

FINISH	1.2,1.014680	_10V_AH	10.2,32.583
SM_CCo	10207,0.00,0.000,0,0,1602,379.48	FG_AHR_24Vo	0.000
SM_GC	2.04,7.70,0.00,0.00,0.045,0.000,0.000,147,2051,1602,-8.33,-0.68,379.48	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12521.83,241199,090955	MEM	298588
TT8_MAMPS	0.052156	DATA_FILE_SIZE	66418,1185
HUMID	38.73	CAP_FILE_SIZE	122314,0
INTERNAL_PRESSURE	8.99133	CFSIZE	260165632,235720704
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.127,310.4,1
_24V_AH	24.2,35.683	GPS	300810,160606,4750.512,-12513.482,40,1.1,47,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	240	111.98	SBE_CT	813	24	472.57
Roll_motor	78	89	170.75	SBE_O2	939	19	432.09
VBD_pump_during_apogee	400	834	8084.48	WL_BBFL2VMT	1437	105	3653.82
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	70.45	nil	0	0	0.00
Iridium_during_connect	32	160	125.34	nil	0	0	0.00
Iridium_during_xfer	203	223	1096.55
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.25
TT8	0	19	0.00
LPSleep	6829	2	152.57
TT8_Active	462	19	93.45
TT8_Sampling	2795	39	1134.79
TT8_CF8	469	45	219.40
TT8_Kalman	0	0	0.00
Analog_circuits	1451	12	177.65
GPS_charging	0	0	0.00
Compass	2424	8	197.81
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.45	-112.4	0.0	0.0	0	72	0.00	0.00	-58.17	0.000	2	0.000	0.000	134	2075	2989	0	0	0	0	0	0
74	-0.45	-112.4	3.1	-1.8	11	107	10.38	2.03	-15.02	0.000	4	0.240	0.080	2676	3317	3611	0	0	0	0	0	0
161	-0.43	-112.4	19.4	-16.6	27	166	0.00	1.98	0.00	0.000	6	0.000	0.053	2676	2078	3613	0	0	0	0	0	0
487	-0.41	-112.4	67.1	-13.0	88	493	0.00	2.03	0.00	0.000	4	0.000	0.067	2667	3310	3614	0	0	0	0	0	0
530	-0.39	-112.4	72.5	-12.6	96	535	0.10	1.92	0.00	0.000	6	0.130	0.051	2701	2084	3614	0	0	0	0	0	0
854	-0.39	-112.4	103.5	-8.0	153	857	0.00	1.95	0.00	0.000	4	0.000	0.058	2702	840	3615	0	0	0	0	0	0
961	-0.39	-112.4	111.7	-7.3	163	964	0.00	1.95	0.00	0.000	6	0.000	0.057	2701	2073	3615	0	0	0	0	0	0
1281	-0.39	-112.4	135.6	-7.5	194	1285	0.00	2.00	0.00	0.000	4	0.000	0.067	2695	3311	3616	0	0	0	0	0	0
1323	-0.39	-112.4	138.9	-7.7	198	1327	0.00	1.95	0.00	0.000	6	0.000	0.051	2695	2065	3615	0	0	0	0	0	0
1645	-0.39	-112.4	166.8	-9.0	229	1645	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2065	3615	0	0	0	0	0	0
1956	-0.39	-112.4	196.7	-9.9	259	1959	0.00	1.92	0.00	0.000	4	0.000	0.060	2695	835	3615	0	0	0	0	0	0
1981	-0.39	-112.4	199.4	-10.3	261	1988	0.00	1.95	0.00	0.000	6	0.000	0.058	2695	2072	3615	0	0	0	0	0	0
2297	-0.39	-112.4	230.0	-9.3	292	2300	0.00	2.00	0.00	0.000	4	0.000	0.067	2692	3312	3615	0	0	0	0	0	0
2349	-0.39	-112.4	235.1	-9.2	297	2354	0.00	1.90	0.00	0.000	6	0.000	0.052	2692	2094	3615	0	0	0	0	0	0
2671	-0.39	-112.4	263.3	-8.3	328	2674	0.00	1.95	0.00	0.000	4	0.000	0.058	2691	842	3614	0	0	0	0	0	0
2703	-0.39	-112.4	266.1	-8.9	331	2706	0.00	1.95	0.00	0.000	6	0.000	0.058	2691	2082	3614	0	0	0	0	0	0
3023	-0.39	-112.4	291.5	-7.5	362	3027	0.00	1.98	0.00	0.000	4	0.000	0.068	2691	3303	3614	0	0	0	0	0	0
3065	-0.39	-112.4	294.7	-7.3	366	3069	0.00	1.90	0.00	0.000	6	0.000	0.052	2691	2085	3614	0	0	0	0	0	0
3387	-0.39	-112.4	319.1	-7.3	397	3390	0.00	1.98	0.00	0.000	4	0.000	0.061	2691	841	3614	0	0	0	0	0	0
3412	-0.39	-112.4	321.3	-8.8	399	3419	0.00	1.95	0.00	0.000	6	0.000	0.058	2691	2077	3613	0	0	0	0	0	0
3729	-0.39	-112.4	344.6	-7.4	430	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2078	3613	0	0	0	0	0	0
4040	-0.39	-112.4	368.1	-7.7	460	4043	0.00	1.98	0.00	0.000	4	0.000	0.069	2691	3314	3613	0	0	0	0	0	0
4108	-0.40	-112.4	373.4	-7.7	466	4115	0.00	1.90	0.00	0.000	6	0.000	0.054	2691	2095	3613	0	0	0	0	0	0
4215	end dive: TARGET_DEPTH_EXCEEDED
state	4215	begin apogee
4219	-0.14	0.0	381.8	7.8	477	4310	0.30	0.00	89.18	0.834	6	0.127	0.000	2788	1985	3150	0	0	0	0	0	0
4311	end apogee: CONTROL_FINISHED_OK
state	4311	begin climb
4312	0.45	112.4	385.1	0.0	486	4409	0.57	0.00	91.40	0.804	6	0.090	0.000	2979	1985	2690	0	0	0	0	0	0
4718	0.45	127.5	366.7	5.6	526	4739	0.00	2.10	12.95	0.752	4	0.000	0.064	2979	3239	2629	0	0	0	0	0	0
4807	0.43	127.5	360.9	6.8	534	4814	0.00	1.98	0.00	0.000	6	0.000	0.053	2985	2016	2628	0	0	0	0	0	0
5123	0.41	127.5	340.2	6.7	565	5126	0.00	2.00	0.00	0.000	4	0.000	0.066	2985	3243	2627	0	0	0	0	0	0
5202	0.39	127.5	334.3	7.5	572	5208	0.00	1.92	0.00	0.000	6	0.000	0.054	2988	2032	2626	0	0	0	0	0	0
5517	0.37	127.5	313.6	6.2	603	5522	0.12	2.03	0.00	0.000	4	0.161	0.064	2960	773	2626	0	0	0	0	0	0
5561	0.39	154.8	311.4	5.1	607	5592	0.00	2.00	22.85	0.772	6	0.000	0.058	2960	2047	2518	0	0	0	0	0	0
5901	0.39	166.9	292.3	5.7	640	5916	0.00	1.92	11.30	0.728	4	0.000	0.064	2961	3242	2468	0	0	0	0	0	0
5964	0.39	166.9	288.5	6.5	645	5970	0.00	1.90	0.00	0.000	6	0.000	0.054	2960	2053	2467	0	0	0	0	0	0
6280	0.40	183.8	271.3	5.5	676	6300	0.00	2.08	15.05	0.737	4	0.000	0.064	2962	770	2400	0	0	0	0	0	0
6326	0.43	211.8	268.9	5.1	680	6354	0.00	2.05	24.02	0.739	6	0.000	0.058	2962	2046	2286	0	0	0	0	0	0
6662	0.46	230.1	249.9	5.4	713	6684	0.00	1.95	16.02	0.724	4	0.000	0.066	2962	3231	2208	0	0	0	0	0	0
6720	0.47	230.1	246.5	6.6	718	6727	0.00	1.90	0.00	0.000	6	0.000	0.055	2962	2057	2206	0	0	0	0	0	0
7036	0.51	268.7	230.0	4.7	749	7069	0.10	0.00	31.75	0.729	6	0.109	0.000	3009	2054	2055	0	0	0	0	0	0
7378	0.51	268.7	205.0	7.1	782	7378	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2054	2048	0	0	0	0	0	0
7689	0.51	268.7	180.4	8.8	812	7690	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2054	2047	0	0	0	0	0	0
8000	0.51	268.7	152.4	9.0	842	8003	0.00	1.90	0.00	0.000	4	0.000	0.067	3009	3244	2046	0	0	0	0	0	0
8020	0.51	268.7	150.3	9.7	844	8024	0.00	1.90	0.00	0.000	6	0.000	0.057	3012	2053	2045	0	0	0	0	0	0
8340	0.51	268.7	120.6	9.0	875	8345	0.00	2.05	0.00	0.000	4	0.000	0.064	3013	762	2046	0	0	0	0	0	0
8378	0.51	268.7	117.6	8.4	878	8385	0.00	2.03	0.00	0.000	6	0.000	0.056	3013	2044	2046	0	0	0	0	0	0
8697	0.51	272.3	94.4	6.0	917	8702	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2044	2045	0	0	0	0	0	0
9022	0.51	272.3	77.3	6.6	978	9029	0.00	1.92	0.00	0.000	4	0.000	0.066	3013	3236	2045	0	0	0	0	0	0
9103	0.51	272.3	70.2	9.5	993	9109	0.00	1.88	0.00	0.000	6	0.000	0.054	3013	2044	2044	0	0	0	0	0	0
9431	0.52	272.3	42.0	7.1	1054	9436	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2043	2045	0	0	0	0	0	0
9757	0.58	332.5	25.9	3.9	1115	9811	0.00	1.92	50.00	0.615	4	0.000	0.064	3013	3236	1794	0	0	0	0	0	0
9844	0.63	376.9	22.2	4.5	1131	9889	0.00	1.90	35.80	0.594	6	0.000	0.054	3013	2051	1613	0	0	0	0	0	0
10100	end climb: SURFACE_DEPTH_REACHED
state	10100	begin surface coast
10134	end surface coast: CONTROL_FINISHED_OK
state	10134	begin surface