Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 406 * 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 406 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 27 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 30 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 -32021.355 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 2855 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 -32021.355

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 2855 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 27 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 30 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 406 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 224306,4749.631,-12513.183,67,1.2,79,18.7 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 1.83 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 224844,4749.621,-12513.167,13,1.4,13,18.7 MHEAD_RNG_PITCHd_Wd 207.9,163257,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 418

Post-dive calculations and measurements:

FINISH 0.9,1.003283 _10V_AH 10.2,38.983

SM_CCo 11997,10.48,0.172,1,0,1722,350.04 FG_AHR_24Vo 0.000

SM_GC 3.13,0.00,0.00,10.48,0.000,0.000,0.172,137,2046,1722,-8.49,-0.85,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12519.98,281199,202036 MEM 298588

TT8_MAMPS 0.052923 DATA_FILE_SIZE 75725,1398

HUMID 39.44 CAP_FILE_SIZE 133521,0

INTERNAL_PRESSURE 9.02063 CFSIZE 260165632,232099840

TCM_TEMP 15.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.108, 4.2,1

_24V_AH 24.1,42.338 GPS 040910,021030,4748.976,-12514.931,63,1.4,69,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 239 113.76 SBE_CT 962 24 556.50

Roll_motor 63 82 125.82 SBE_O2 1107 19 506.98

VBD_pump_during_apogee 364 855 7515.63 WL_BBFL2VMT 1686 105 4266.99

VBD_pump_during_surface 10 171 43.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.44 nil 0 0 0.00

Iridium_during_connect 32 160 124.07 nil 0 0 0.00

Iridium_during_xfer 170 223 913.66

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.98

TT8 0 19 0.00

LPSleep 8204 2 183.26

TT8_Active 411 19 83.09

TT8_Sampling 3222 39 1308.35

TT8_CF8 493 45 230.42

TT8_Kalman 0 0 0.00

Analog_circuits 1517 12 185.69

GPS_charging 0 0 0.00

Compass 2815 8 229.74

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

13 -0.45 -112.4 0.0 0.0 0 72 0.00 0.00 -57.33 0.000 2 0.000 0.000 132 2077 3053 0 0 0 0 0 0

74 -0.45 -112.4 3.3 -2.7 11 103 10.45 2.00 -12.02 0.000 4 0.239 0.074 2693 3302 3611 0 0 0 0 0 0

139 -0.41 -112.4 18.6 -18.6 23 145 0.00 1.95 0.00 0.000 6 0.000 0.050 2692 2074 3612 0 0 0 0 0 0

466 -0.40 -112.4 59.0 -12.2 84 472 0.12 2.03 0.00 0.000 4 0.158 0.065 2721 3308 3614 0 0 0 0 0 0

562 -0.40 -112.4 67.4 -8.3 102 569 0.00 1.92 0.00 0.000 6 0.000 0.050 2721 2082 3614 0 0 0 0 0 0

890 -0.40 -112.4 93.4 -6.2 163 896 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2081 3615 0 0 0 0 0 0

1208 -0.40 -112.4 115.6 -7.3 204 1212 0.00 2.00 0.00 0.000 4 0.000 0.066 2719 3309 3615 0 0 0 0 0 0

1288 -0.42 -112.4 121.5 -7.5 211 1294 0.00 1.90 0.00 0.000 6 0.000 0.050 2719 2094 3615 0 0 0 0 0 0

1603 -0.43 -112.4 143.6 -7.2 242 1607 0.00 1.95 0.00 0.000 4 0.000 0.066 2717 3302 3615 0 0 0 0 0 0

1631 -0.45 -112.4 145.6 -7.8 244 1636 0.00 1.88 0.00 0.000 6 0.000 0.051 2717 2101 3615 0 0 0 0 0 0

1945 -0.46 -112.4 168.8 -7.0 275 1946 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2101 3615 0 0 0 0 0 0

2257 -0.47 -112.4 191.5 -7.6 305 2258 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2100 3615 0 0 0 0 0 0

2567 -0.48 -112.4 214.9 -7.1 335 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2101 3614 0 0 0 0 0 0

2878 -0.50 -112.4 235.9 -6.4 365 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2101 3614 0 0 0 0 0 0

3188 -0.51 -112.4 253.3 -5.5 395 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2101 3613 0 0 0 0 0 0

3499 -0.53 -112.4 272.1 -6.2 425 3500 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2101 3613 0 0 0 0 0 0

3809 -0.54 -112.4 293.2 -6.7 455 3813 0.10 1.95 0.00 0.000 4 0.112 0.069 2664 3312 3612 0 0 0 0 0 0

3845 -0.54 -112.4 296.6 -9.9 458 3853 0.00 1.90 0.00 0.000 6 0.000 0.052 2664 2099 3612 0 0 0 0 0 0

4161 -0.53 -112.4 326.0 -8.7 489 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2099 3612 0 0 0 0 0 0

4473 -0.52 -112.4 352.5 -8.0 519 4474 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2099 3612 0 0 0 0 0 0

4783 -0.51 -112.4 377.0 -8.0 549 4787 0.00 1.98 0.00 0.000 4 0.000 0.069 2655 3302 3611 0 0 0 0 0 0

4814 -0.51 -112.4 379.6 -8.7 552 4818 0.08 1.88 0.00 0.000 6 0.119 0.053 2683 2108 3611 0 0 0 0 0 0

5136 -0.51 -112.4 402.5 -7.6 583 5136 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2108 3611 0 0 0 0 0 0

5329 end dive: TARGET_DEPTH_EXCEEDED

state 5329 begin apogee

5334 -0.14 0.0 418.1 8.4 602 5425 0.38 0.00 89.18 0.856 6 0.119 0.000 2807 1982 3150 0 0 0 0 0 0

5425 end apogee: CONTROL_FINISHED_OK

state 5425 begin climb

5427 0.45 112.4 421.3 0.0 611 5526 0.55 2.05 91.53 0.825 4 0.079 0.061 3007 780 2690 0 0 0 0 0 0

5562 0.45 157.4 419.5 4.5 624 5604 0.00 2.00 37.80 0.805 6 0.000 0.055 3007 1989 2508 0 0 0 0 0 0

5913 0.43 157.4 394.6 6.9 658 5917 0.00 2.05 0.00 0.000 4 0.000 0.065 3007 3225 2502 0 0 0 0 0 0

5998 0.40 157.4 387.1 8.7 666 6002 0.00 1.95 0.00 0.000 6 0.000 0.054 3014 2016 2502 0 0 0 0 0 0

6319 0.38 157.4 362.2 7.1 697 6321 0.12 0.00 0.00 0.000 6 0.166 0.000 2982 2014 2501 0 0 0 0 0 0

6630 0.39 171.8 345.3 5.6 727 6649 0.00 2.03 12.12 0.762 4 0.000 0.065 2981 3236 2449 0 0 0 0 0 0

6680 0.38 171.8 342.2 6.9 732 6684 0.00 1.98 0.00 0.000 6 0.000 0.055 2985 2007 2447 0 0 0 0 0 0

7002 0.38 171.8 320.4 7.5 763 7002 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2007 2446 0 0 0 0 0 0

7313 0.38 171.8 297.3 7.4 793 7316 0.00 1.98 0.00 0.000 4 0.000 0.067 2985 3233 2445 0 0 0 0 0 0

7377 0.36 171.8 292.1 8.2 799 7380 0.00 1.92 0.00 0.000 6 0.000 0.055 2986 2011 2445 0 0 0 0 0 0

7696 0.36 171.8 269.6 7.1 830 7697 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2011 2445 0 0 0 0 0 0

8008 0.36 171.8 247.4 7.0 860 8011 0.00 1.98 0.00 0.000 4 0.000 0.067 2986 3232 2445 0 0 0 0 0 0

8049 0.35 171.8 243.9 8.9 864 8053 0.00 1.92 0.00 0.000 6 0.000 0.055 2986 2023 2445 0 0 0 0 0 0

8371 0.35 171.8 220.3 7.3 895 8372 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2024 2444 0 0 0 0 0 0

8682 0.35 171.8 199.5 6.3 925 8683 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2024 2444 0 0 0 0 0 0

8993 0.35 171.8 179.5 6.4 955 8994 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2024 2444 0 0 0 0 0 0

9304 0.37 205.4 162.1 4.9 985 9335 0.00 2.00 27.48 0.699 4 0.000 0.066 2986 3233 2312 0 0 0 0 0 0

9361 0.37 205.6 158.8 6.1 990 9368 0.00 1.92 0.00 0.000 6 0.000 0.055 2986 2030 2309 0 0 0 0 0 0

9677 0.37 205.6 139.1 6.8 1021 9680 0.00 2.03 0.00 0.000 4 0.000 0.064 2986 764 2307 0 0 0 0 0 0

9724 0.37 205.6 135.9 6.7 1025 9729 0.00 2.00 0.00 0.000 6 0.000 0.058 2987 2023 2307 0 0 0 0 0 0

10039 0.37 205.6 114.5 7.0 1056 10044 0.00 1.98 0.00 0.000 4 0.000 0.066 2986 3232 2306 0 0 0 0 0 0

10103 0.37 205.6 109.6 7.4 1062 10107 0.00 1.92 0.00 0.000 6 0.000 0.055 2986 2022 2306 0 0 0 0 0 0

10425 0.37 205.6 88.8 6.4 1108 10430 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2022 2306 0 0 0 0 0 0

10751 0.37 206.9 70.3 6.1 1169 10756 0.00 1.98 0.00 0.000 4 0.000 0.067 2986 3226 2305 0 0 0 0 0 0

10820 0.37 206.9 65.8 6.5 1182 10827 0.00 1.90 0.00 0.000 6 0.000 0.055 2987 2028 2305 0 0 0 0 0 0

11149 0.45 306.3 51.6 2.5 1243 11238 0.00 2.03 79.10 0.623 4 0.000 0.067 2986 3229 1899 0 0 0 0 0 0

11292 0.51 339.5 46.5 4.9 1269 11326 0.00 1.92 27.12 0.594 6 0.000 0.054 2987 2047 1764 0 0 0 0 0 0

11647 0.59 339.5 19.4 8.9 1335 11653 0.17 0.00 0.00 0.000 6 0.104 0.000 3050 2047 1757 0 0 0 0 0 0

11923 end climb: SURFACE_DEPTH_REACHED

state 11923 begin surface coast

11984 end surface coast: CONTROL_FINISHED_OK

state 11984 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	406	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	27	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	30	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	-32021.355	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	2855	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	224306,4749.631,-12513.183,67,1.2,79,18.7	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	1.83	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	224844,4749.621,-12513.167,13,1.4,13,18.7	MHEAD_RNG_PITCHd_Wd	207.9,163257,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	418

FINISH	0.9,1.003283	_10V_AH	10.2,38.983
SM_CCo	11997,10.48,0.172,1,0,1722,350.04	FG_AHR_24Vo	0.000
SM_GC	3.13,0.00,0.00,10.48,0.000,0.000,0.172,137,2046,1722,-8.49,-0.85,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12519.98,281199,202036	MEM	298588
TT8_MAMPS	0.052923	DATA_FILE_SIZE	75725,1398
HUMID	39.44	CAP_FILE_SIZE	133521,0
INTERNAL_PRESSURE	9.02063	CFSIZE	260165632,232099840
TCM_TEMP	15.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.108, 4.2,1
_24V_AH	24.1,42.338	GPS	040910,021030,4748.976,-12514.931,63,1.4,69,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	239	113.76	SBE_CT	962	24	556.50
Roll_motor	63	82	125.82	SBE_O2	1107	19	506.98
VBD_pump_during_apogee	364	855	7515.63	WL_BBFL2VMT	1686	105	4266.99
VBD_pump_during_surface	10	171	43.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.44	nil	0	0	0.00
Iridium_during_connect	32	160	124.07	nil	0	0	0.00
Iridium_during_xfer	170	223	913.66
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.98
TT8	0	19	0.00
LPSleep	8204	2	183.26
TT8_Active	411	19	83.09
TT8_Sampling	3222	39	1308.35
TT8_CF8	493	45	230.42
TT8_Kalman	0	0	0.00
Analog_circuits	1517	12	185.69
GPS_charging	0	0	0.00
Compass	2815	8	229.74
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
13	-0.45	-112.4	0.0	0.0	0	72	0.00	0.00	-57.33	0.000	2	0.000	0.000	132	2077	3053	0	0	0	0	0	0
74	-0.45	-112.4	3.3	-2.7	11	103	10.45	2.00	-12.02	0.000	4	0.239	0.074	2693	3302	3611	0	0	0	0	0	0
139	-0.41	-112.4	18.6	-18.6	23	145	0.00	1.95	0.00	0.000	6	0.000	0.050	2692	2074	3612	0	0	0	0	0	0
466	-0.40	-112.4	59.0	-12.2	84	472	0.12	2.03	0.00	0.000	4	0.158	0.065	2721	3308	3614	0	0	0	0	0	0
562	-0.40	-112.4	67.4	-8.3	102	569	0.00	1.92	0.00	0.000	6	0.000	0.050	2721	2082	3614	0	0	0	0	0	0
890	-0.40	-112.4	93.4	-6.2	163	896	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2081	3615	0	0	0	0	0	0
1208	-0.40	-112.4	115.6	-7.3	204	1212	0.00	2.00	0.00	0.000	4	0.000	0.066	2719	3309	3615	0	0	0	0	0	0
1288	-0.42	-112.4	121.5	-7.5	211	1294	0.00	1.90	0.00	0.000	6	0.000	0.050	2719	2094	3615	0	0	0	0	0	0
1603	-0.43	-112.4	143.6	-7.2	242	1607	0.00	1.95	0.00	0.000	4	0.000	0.066	2717	3302	3615	0	0	0	0	0	0
1631	-0.45	-112.4	145.6	-7.8	244	1636	0.00	1.88	0.00	0.000	6	0.000	0.051	2717	2101	3615	0	0	0	0	0	0
1945	-0.46	-112.4	168.8	-7.0	275	1946	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2101	3615	0	0	0	0	0	0
2257	-0.47	-112.4	191.5	-7.6	305	2258	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2100	3615	0	0	0	0	0	0
2567	-0.48	-112.4	214.9	-7.1	335	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2101	3614	0	0	0	0	0	0
2878	-0.50	-112.4	235.9	-6.4	365	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2101	3614	0	0	0	0	0	0
3188	-0.51	-112.4	253.3	-5.5	395	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2101	3613	0	0	0	0	0	0
3499	-0.53	-112.4	272.1	-6.2	425	3500	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2101	3613	0	0	0	0	0	0
3809	-0.54	-112.4	293.2	-6.7	455	3813	0.10	1.95	0.00	0.000	4	0.112	0.069	2664	3312	3612	0	0	0	0	0	0
3845	-0.54	-112.4	296.6	-9.9	458	3853	0.00	1.90	0.00	0.000	6	0.000	0.052	2664	2099	3612	0	0	0	0	0	0
4161	-0.53	-112.4	326.0	-8.7	489	4162	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2099	3612	0	0	0	0	0	0
4473	-0.52	-112.4	352.5	-8.0	519	4474	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2099	3612	0	0	0	0	0	0
4783	-0.51	-112.4	377.0	-8.0	549	4787	0.00	1.98	0.00	0.000	4	0.000	0.069	2655	3302	3611	0	0	0	0	0	0
4814	-0.51	-112.4	379.6	-8.7	552	4818	0.08	1.88	0.00	0.000	6	0.119	0.053	2683	2108	3611	0	0	0	0	0	0
5136	-0.51	-112.4	402.5	-7.6	583	5136	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2108	3611	0	0	0	0	0	0
5329	end dive: TARGET_DEPTH_EXCEEDED
state	5329	begin apogee
5334	-0.14	0.0	418.1	8.4	602	5425	0.38	0.00	89.18	0.856	6	0.119	0.000	2807	1982	3150	0	0	0	0	0	0
5425	end apogee: CONTROL_FINISHED_OK
state	5425	begin climb
5427	0.45	112.4	421.3	0.0	611	5526	0.55	2.05	91.53	0.825	4	0.079	0.061	3007	780	2690	0	0	0	0	0	0
5562	0.45	157.4	419.5	4.5	624	5604	0.00	2.00	37.80	0.805	6	0.000	0.055	3007	1989	2508	0	0	0	0	0	0
5913	0.43	157.4	394.6	6.9	658	5917	0.00	2.05	0.00	0.000	4	0.000	0.065	3007	3225	2502	0	0	0	0	0	0
5998	0.40	157.4	387.1	8.7	666	6002	0.00	1.95	0.00	0.000	6	0.000	0.054	3014	2016	2502	0	0	0	0	0	0
6319	0.38	157.4	362.2	7.1	697	6321	0.12	0.00	0.00	0.000	6	0.166	0.000	2982	2014	2501	0	0	0	0	0	0
6630	0.39	171.8	345.3	5.6	727	6649	0.00	2.03	12.12	0.762	4	0.000	0.065	2981	3236	2449	0	0	0	0	0	0
6680	0.38	171.8	342.2	6.9	732	6684	0.00	1.98	0.00	0.000	6	0.000	0.055	2985	2007	2447	0	0	0	0	0	0
7002	0.38	171.8	320.4	7.5	763	7002	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	2007	2446	0	0	0	0	0	0
7313	0.38	171.8	297.3	7.4	793	7316	0.00	1.98	0.00	0.000	4	0.000	0.067	2985	3233	2445	0	0	0	0	0	0
7377	0.36	171.8	292.1	8.2	799	7380	0.00	1.92	0.00	0.000	6	0.000	0.055	2986	2011	2445	0	0	0	0	0	0
7696	0.36	171.8	269.6	7.1	830	7697	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2011	2445	0	0	0	0	0	0
8008	0.36	171.8	247.4	7.0	860	8011	0.00	1.98	0.00	0.000	4	0.000	0.067	2986	3232	2445	0	0	0	0	0	0
8049	0.35	171.8	243.9	8.9	864	8053	0.00	1.92	0.00	0.000	6	0.000	0.055	2986	2023	2445	0	0	0	0	0	0
8371	0.35	171.8	220.3	7.3	895	8372	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2024	2444	0	0	0	0	0	0
8682	0.35	171.8	199.5	6.3	925	8683	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2024	2444	0	0	0	0	0	0
8993	0.35	171.8	179.5	6.4	955	8994	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2024	2444	0	0	0	0	0	0
9304	0.37	205.4	162.1	4.9	985	9335	0.00	2.00	27.48	0.699	4	0.000	0.066	2986	3233	2312	0	0	0	0	0	0
9361	0.37	205.6	158.8	6.1	990	9368	0.00	1.92	0.00	0.000	6	0.000	0.055	2986	2030	2309	0	0	0	0	0	0
9677	0.37	205.6	139.1	6.8	1021	9680	0.00	2.03	0.00	0.000	4	0.000	0.064	2986	764	2307	0	0	0	0	0	0
9724	0.37	205.6	135.9	6.7	1025	9729	0.00	2.00	0.00	0.000	6	0.000	0.058	2987	2023	2307	0	0	0	0	0	0
10039	0.37	205.6	114.5	7.0	1056	10044	0.00	1.98	0.00	0.000	4	0.000	0.066	2986	3232	2306	0	0	0	0	0	0
10103	0.37	205.6	109.6	7.4	1062	10107	0.00	1.92	0.00	0.000	6	0.000	0.055	2986	2022	2306	0	0	0	0	0	0
10425	0.37	205.6	88.8	6.4	1108	10430	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2022	2306	0	0	0	0	0	0
10751	0.37	206.9	70.3	6.1	1169	10756	0.00	1.98	0.00	0.000	4	0.000	0.067	2986	3226	2305	0	0	0	0	0	0
10820	0.37	206.9	65.8	6.5	1182	10827	0.00	1.90	0.00	0.000	6	0.000	0.055	2987	2028	2305	0	0	0	0	0	0
11149	0.45	306.3	51.6	2.5	1243	11238	0.00	2.03	79.10	0.623	4	0.000	0.067	2986	3229	1899	0	0	0	0	0	0
11292	0.51	339.5	46.5	4.9	1269	11326	0.00	1.92	27.12	0.594	6	0.000	0.054	2987	2047	1764	0	0	0	0	0	0
11647	0.59	339.5	19.4	8.9	1335	11653	0.17	0.00	0.00	0.000	6	0.104	0.000	3050	2047	1757	0	0	0	0	0	0
11923	end climb: SURFACE_DEPTH_REACHED
state	11923	begin surface coast
11984	end surface coast: CONTROL_FINISHED_OK
state	11984	begin surface