Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 435 * 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 435 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 48 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 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 5 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 -1588535.9 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 -1588535.9

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 5

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 48 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 27 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 435 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 291212,002254,4750.350,-12513.269,12,1.9,17,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.01 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -72.2 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 291212,002836,4750.436,-12513.352,15,1.9,32,18.7 MHEAD_RNG_PITCHd_Wd 171.6,163920,-13.3,-7.021,-18.50

SPEED_LIMITS 0.122,0.210 D_GRID 380

Post-dive calculations and measurements:

FINISH 1.3,1.002464 _10V_AH 9.9,48.787

SM_CCo 9368,0.00,0.000,0,0,1211,388.56 FG_AHR_24Vo 0.000

SM_GC 2.10,8.27,0.15,0.00,0.026,0.081,0.000,106,2199,1211,-9.46,1.30,388.56,0,0,0,0,0,0,26.12,26.09,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12506.88,281212,222200 MEM 296892

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 46919,846

HUMID 45.62 CAP_FILE_SIZE 95129,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260165632,221614080

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.200,339.0,1

_24V_AH 23.6,60.433 GPS 291212,030636,4749.498,-12514.403,41,1.2,42,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 104.65 SBE_CT 576 24 326.71

Roll_motor 70 81 135.68 SBE_O2 547 19 245.60

VBD_pump_during_apogee 441 784 8171.14 WL_BBFL2VMT 0 0 0.00

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 70.39 nil 0 0 0.00

Iridium_during_connect 38 160 144.55 nil 0 0 0.00

Iridium_during_xfer 139 223 734.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.57

TT8 2049 19 401.69

LPSleep 5294 2 114.80

TT8_Active 500 19 98.12

TT8_Sampling 1651 39 650.65

TT8_CF8 223 45 101.51

TT8_Kalman 0 0 0.00

Analog_circuits 1307 12 155.37

GPS_charging 0 0 0.00

Compass 1403 15 208.44

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

16 -0.47 -136.3 0.0 0.0 0 97 0.00 0.00 -77.72 0.000 2 0.000 0.000 115 2195 2741 0 0 0 0 0 0 28.83 28.83 28.83

101 -0.47 -136.3 3.4 -4.3 14 133 11.35 2.12 -13.85 0.000 4 0.213 0.058 3037 802 3350 0 0 0 0 0 0 24.95 25.75 26.32

176 -0.47 -136.3 18.5 -16.8 27 183 0.00 2.17 0.00 0.000 6 0.000 0.049 3029 2211 3352 0 0 0 0 0 0 28.83 25.75 28.83

488 -0.47 -136.3 66.7 -15.4 88 495 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2211 3352 0 0 0 0 0 0 28.83 28.83 28.83

800 -0.47 -136.3 107.9 -12.1 149 806 0.00 2.15 0.00 0.000 4 0.000 0.048 3029 806 3352 0 0 0 0 0 0 28.83 25.87 28.83

918 -0.47 -136.3 120.2 -10.6 170 925 0.00 2.15 0.00 0.000 6 0.000 0.049 3020 2205 3353 0 0 0 0 0 0 28.83 25.89 28.83

1226 -0.47 -136.3 151.9 -9.9 191 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 3353 0 0 0 0 0 0 28.83 28.83 28.83

1525 -0.47 -136.3 183.5 -10.2 211 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2204 3353 0 0 0 0 0 0 28.83 28.83 28.83

1825 -0.47 -136.3 212.4 -9.2 229 1827 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 3353 0 0 0 0 0 0 28.83 28.83 28.83

2126 -0.47 -136.3 239.3 -9.2 244 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 3353 0 0 0 0 0 0 28.83 28.83 28.83

2425 -0.47 -136.3 267.4 -10.1 259 2431 0.00 2.22 0.00 0.000 4 0.000 0.060 3009 3620 3353 0 0 0 0 0 0 28.83 25.82 28.83

2493 -0.47 -136.3 273.3 -10.0 262 2498 0.12 2.17 0.00 0.000 6 0.127 0.042 3046 2194 3353 0 0 0 0 0 0 25.86 26.02 28.83

2801 -0.47 -136.3 296.8 -7.4 277 2805 0.00 2.12 0.00 0.000 4 0.000 0.049 3046 800 3353 0 0 0 0 0 0 28.83 25.89 28.83

2845 -0.47 -136.3 299.8 -7.2 279 2850 0.00 2.15 0.00 0.000 6 0.000 0.050 3040 2202 3353 0 0 0 0 0 0 28.83 25.89 28.83

3158 -0.47 -136.3 323.2 -7.8 295 3164 0.00 2.20 0.00 0.000 4 0.000 0.062 3031 3610 3353 0 0 0 0 0 0 28.83 25.79 28.83

3220 -0.47 -136.3 328.1 -7.8 298 3224 0.00 2.15 0.00 0.000 6 0.000 0.043 3031 2197 3353 0 0 0 0 0 0 28.83 26.01 28.83

3533 -0.47 -136.3 355.3 -8.5 314 3534 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2194 3353 0 0 0 0 0 0 28.83 28.83 28.83

3830 end dive: TARGET_DEPTH_EXCEEDED

state 3831 begin apogee

3838 -0.22 0.0 381.6 -8.8 329 3956 0.28 0.00 113.60 0.785 6 0.112 0.000 3125 2334 2794 0 0 0 0 0 0 25.83 28.83 23.93

3959 end apogee: CONTROL_FINISHED_OK

state 3959 begin climb

3963 0.47 136.3 386.8 0.0 335 4088 0.62 2.42 117.70 0.770 4 0.079 0.062 3345 3724 2236 0 0 0 0 0 0 25.01 24.61 23.65

4102 0.50 214.2 383.4 3.9 342 4174 0.00 2.25 65.30 0.752 6 0.000 0.044 3354 2327 1918 0 0 0 0 0 0 28.83 24.85 23.57

4494 0.50 214.2 354.5 7.1 362 4499 0.00 2.20 0.00 0.000 4 0.000 0.052 3363 919 1910 0 0 0 0 0 0 28.83 25.61 28.83

4545 0.50 215.1 351.7 7.0 364 4553 0.00 2.17 0.00 0.000 6 0.000 0.051 3363 2314 1910 0 0 0 0 0 0 28.83 25.66 28.83

4852 0.50 215.1 324.9 8.6 380 4853 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 2314 1909 0 0 0 0 0 0 28.83 28.83 28.83

5153 0.50 215.1 301.4 7.6 395 5158 0.00 2.25 0.00 0.000 4 0.000 0.064 3364 3735 1908 0 0 0 0 0 0 28.83 25.77 28.83

5192 0.50 215.1 297.9 8.2 397 5198 0.00 2.20 0.00 0.000 6 0.000 0.045 3372 2315 1907 0 0 0 0 0 0 28.83 25.92 28.83

5513 0.50 215.1 272.3 7.6 413 5518 0.00 2.15 0.00 0.000 4 0.000 0.053 3382 915 1907 0 0 0 0 0 0 28.83 25.86 28.83

5560 0.50 215.1 269.2 7.8 415 5564 0.00 2.20 0.00 0.000 6 0.000 0.052 3382 2330 1907 0 0 0 0 0 0 28.83 25.86 28.83

5867 0.50 215.1 244.5 7.6 430 5873 0.00 2.25 0.00 0.000 4 0.000 0.063 3382 3737 1907 0 0 0 0 0 0 28.83 25.79 28.83

5891 0.50 215.1 242.8 7.6 431 5896 0.12 2.20 0.00 0.000 6 0.141 0.046 3357 2317 1907 0 0 0 0 0 0 25.79 25.96 28.83

6204 0.50 215.1 221.0 7.3 447 6209 0.00 2.17 0.00 0.000 4 0.000 0.053 3364 913 1907 0 0 0 0 0 0 28.83 25.86 28.83

6244 0.50 215.1 218.2 7.1 449 6250 0.00 2.20 0.00 0.000 6 0.000 0.052 3364 2337 1907 0 0 0 0 0 0 28.83 25.87 28.83

6560 0.51 222.6 197.9 6.7 465 6574 0.00 2.22 6.30 0.547 4 0.000 0.050 3371 920 1886 0 0 0 0 0 0 28.83 25.86 24.20

6594 0.51 223.6 195.6 7.0 467 6598 0.00 2.17 0.00 0.000 6 0.000 0.051 3371 2325 1885 0 0 0 0 0 0 28.83 25.87 28.83

6903 0.51 242.6 174.0 6.3 487 6924 0.00 0.00 18.88 0.641 6 0.000 0.000 3372 2325 1804 0 0 0 0 0 0 28.83 28.83 24.53

7219 0.52 247.1 151.8 6.8 508 7231 0.00 0.00 4.88 0.483 6 0.000 0.000 3372 2325 1786 0 0 0 0 0 0 28.83 28.83 24.31

7533 0.52 247.1 131.8 7.3 529 7538 0.00 2.17 0.00 0.000 4 0.000 0.052 3380 920 1784 0 0 0 0 0 0 28.83 25.82 28.83

7585 0.52 247.1 128.3 7.6 532 7592 0.00 2.20 0.00 0.000 6 0.000 0.051 3380 2336 1784 0 0 0 0 0 0 28.83 25.82 28.83

7894 0.52 247.1 105.7 8.0 579 7900 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2336 1783 0 0 0 0 0 0 28.83 28.83 28.83

8204 0.53 289.0 85.1 5.4 640 8246 0.00 2.33 35.65 0.602 4 0.000 0.051 3382 914 1614 0 0 0 0 0 0 28.83 25.66 24.58

8300 0.56 355.8 80.2 4.4 657 8364 0.00 2.20 54.90 0.591 6 0.000 0.050 3381 2327 1340 0 0 0 0 0 0 28.83 25.64 24.34

8670 0.57 385.8 61.1 5.8 728 8701 0.00 2.30 23.92 0.568 4 0.000 0.050 3382 919 1218 0 0 0 0 0 0 28.83 25.58 24.54

8760 0.57 385.8 54.2 10.1 744 8767 0.00 2.20 0.00 0.000 6 0.000 0.048 3382 2329 1216 0 0 0 0 0 0 28.83 25.60 28.83

9071 0.57 385.8 20.8 10.6 805 9078 0.00 2.25 0.00 0.000 4 0.000 0.062 3382 3736 1214 0 0 0 0 0 0 28.83 25.68 28.83

9132 0.57 385.8 14.7 9.9 816 9139 0.00 2.20 0.00 0.000 6 0.000 0.043 3382 2308 1213 0 0 0 0 0 0 28.83 25.86 28.83

9254 end climb: SURFACE_DEPTH_REACHED

state 9254 begin surface coast

9288 end surface coast: CONTROL_FINISHED_OK

state 9288 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	435	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	48	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	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	5	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	-1588535.9	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	291212,002254,4750.350,-12513.269,12,1.9,17,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.01	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-72.2	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	291212,002836,4750.436,-12513.352,15,1.9,32,18.7	MHEAD_RNG_PITCHd_Wd	171.6,163920,-13.3,-7.021,-18.50
SPEED_LIMITS	0.122,0.210	D_GRID	380

FINISH	1.3,1.002464	_10V_AH	9.9,48.787
SM_CCo	9368,0.00,0.000,0,0,1211,388.56	FG_AHR_24Vo	0.000
SM_GC	2.10,8.27,0.15,0.00,0.026,0.081,0.000,106,2199,1211,-9.46,1.30,388.56,0,0,0,0,0,0,26.12,26.09,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12506.88,281212,222200	MEM	296892
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	46919,846
HUMID	45.62	CAP_FILE_SIZE	95129,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260165632,221614080
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.200,339.0,1
_24V_AH	23.6,60.433	GPS	291212,030636,4749.498,-12514.403,41,1.2,42,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	104.65	SBE_CT	576	24	326.71
Roll_motor	70	81	135.68	SBE_O2	547	19	245.60
VBD_pump_during_apogee	441	784	8171.14	WL_BBFL2VMT	0	0	0.00
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	70.39	nil	0	0	0.00
Iridium_during_connect	38	160	144.55	nil	0	0	0.00
Iridium_during_xfer	139	223	734.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.57
TT8	2049	19	401.69
LPSleep	5294	2	114.80
TT8_Active	500	19	98.12
TT8_Sampling	1651	39	650.65
TT8_CF8	223	45	101.51
TT8_Kalman	0	0	0.00
Analog_circuits	1307	12	155.37
GPS_charging	0	0	0.00
Compass	1403	15	208.44
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
16	-0.47	-136.3	0.0	0.0	0	97	0.00	0.00	-77.72	0.000	2	0.000	0.000	115	2195	2741	0	0	0	0	0	0	28.83	28.83	28.83
101	-0.47	-136.3	3.4	-4.3	14	133	11.35	2.12	-13.85	0.000	4	0.213	0.058	3037	802	3350	0	0	0	0	0	0	24.95	25.75	26.32
176	-0.47	-136.3	18.5	-16.8	27	183	0.00	2.17	0.00	0.000	6	0.000	0.049	3029	2211	3352	0	0	0	0	0	0	28.83	25.75	28.83
488	-0.47	-136.3	66.7	-15.4	88	495	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2211	3352	0	0	0	0	0	0	28.83	28.83	28.83
800	-0.47	-136.3	107.9	-12.1	149	806	0.00	2.15	0.00	0.000	4	0.000	0.048	3029	806	3352	0	0	0	0	0	0	28.83	25.87	28.83
918	-0.47	-136.3	120.2	-10.6	170	925	0.00	2.15	0.00	0.000	6	0.000	0.049	3020	2205	3353	0	0	0	0	0	0	28.83	25.89	28.83
1226	-0.47	-136.3	151.9	-9.9	191	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	3353	0	0	0	0	0	0	28.83	28.83	28.83
1525	-0.47	-136.3	183.5	-10.2	211	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2204	3353	0	0	0	0	0	0	28.83	28.83	28.83
1825	-0.47	-136.3	212.4	-9.2	229	1827	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	3353	0	0	0	0	0	0	28.83	28.83	28.83
2126	-0.47	-136.3	239.3	-9.2	244	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	3353	0	0	0	0	0	0	28.83	28.83	28.83
2425	-0.47	-136.3	267.4	-10.1	259	2431	0.00	2.22	0.00	0.000	4	0.000	0.060	3009	3620	3353	0	0	0	0	0	0	28.83	25.82	28.83
2493	-0.47	-136.3	273.3	-10.0	262	2498	0.12	2.17	0.00	0.000	6	0.127	0.042	3046	2194	3353	0	0	0	0	0	0	25.86	26.02	28.83
2801	-0.47	-136.3	296.8	-7.4	277	2805	0.00	2.12	0.00	0.000	4	0.000	0.049	3046	800	3353	0	0	0	0	0	0	28.83	25.89	28.83
2845	-0.47	-136.3	299.8	-7.2	279	2850	0.00	2.15	0.00	0.000	6	0.000	0.050	3040	2202	3353	0	0	0	0	0	0	28.83	25.89	28.83
3158	-0.47	-136.3	323.2	-7.8	295	3164	0.00	2.20	0.00	0.000	4	0.000	0.062	3031	3610	3353	0	0	0	0	0	0	28.83	25.79	28.83
3220	-0.47	-136.3	328.1	-7.8	298	3224	0.00	2.15	0.00	0.000	6	0.000	0.043	3031	2197	3353	0	0	0	0	0	0	28.83	26.01	28.83
3533	-0.47	-136.3	355.3	-8.5	314	3534	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	2194	3353	0	0	0	0	0	0	28.83	28.83	28.83
3830	end dive: TARGET_DEPTH_EXCEEDED
state	3831	begin apogee
3838	-0.22	0.0	381.6	-8.8	329	3956	0.28	0.00	113.60	0.785	6	0.112	0.000	3125	2334	2794	0	0	0	0	0	0	25.83	28.83	23.93
3959	end apogee: CONTROL_FINISHED_OK
state	3959	begin climb
3963	0.47	136.3	386.8	0.0	335	4088	0.62	2.42	117.70	0.770	4	0.079	0.062	3345	3724	2236	0	0	0	0	0	0	25.01	24.61	23.65
4102	0.50	214.2	383.4	3.9	342	4174	0.00	2.25	65.30	0.752	6	0.000	0.044	3354	2327	1918	0	0	0	0	0	0	28.83	24.85	23.57
4494	0.50	214.2	354.5	7.1	362	4499	0.00	2.20	0.00	0.000	4	0.000	0.052	3363	919	1910	0	0	0	0	0	0	28.83	25.61	28.83
4545	0.50	215.1	351.7	7.0	364	4553	0.00	2.17	0.00	0.000	6	0.000	0.051	3363	2314	1910	0	0	0	0	0	0	28.83	25.66	28.83
4852	0.50	215.1	324.9	8.6	380	4853	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	2314	1909	0	0	0	0	0	0	28.83	28.83	28.83
5153	0.50	215.1	301.4	7.6	395	5158	0.00	2.25	0.00	0.000	4	0.000	0.064	3364	3735	1908	0	0	0	0	0	0	28.83	25.77	28.83
5192	0.50	215.1	297.9	8.2	397	5198	0.00	2.20	0.00	0.000	6	0.000	0.045	3372	2315	1907	0	0	0	0	0	0	28.83	25.92	28.83
5513	0.50	215.1	272.3	7.6	413	5518	0.00	2.15	0.00	0.000	4	0.000	0.053	3382	915	1907	0	0	0	0	0	0	28.83	25.86	28.83
5560	0.50	215.1	269.2	7.8	415	5564	0.00	2.20	0.00	0.000	6	0.000	0.052	3382	2330	1907	0	0	0	0	0	0	28.83	25.86	28.83
5867	0.50	215.1	244.5	7.6	430	5873	0.00	2.25	0.00	0.000	4	0.000	0.063	3382	3737	1907	0	0	0	0	0	0	28.83	25.79	28.83
5891	0.50	215.1	242.8	7.6	431	5896	0.12	2.20	0.00	0.000	6	0.141	0.046	3357	2317	1907	0	0	0	0	0	0	25.79	25.96	28.83
6204	0.50	215.1	221.0	7.3	447	6209	0.00	2.17	0.00	0.000	4	0.000	0.053	3364	913	1907	0	0	0	0	0	0	28.83	25.86	28.83
6244	0.50	215.1	218.2	7.1	449	6250	0.00	2.20	0.00	0.000	6	0.000	0.052	3364	2337	1907	0	0	0	0	0	0	28.83	25.87	28.83
6560	0.51	222.6	197.9	6.7	465	6574	0.00	2.22	6.30	0.547	4	0.000	0.050	3371	920	1886	0	0	0	0	0	0	28.83	25.86	24.20
6594	0.51	223.6	195.6	7.0	467	6598	0.00	2.17	0.00	0.000	6	0.000	0.051	3371	2325	1885	0	0	0	0	0	0	28.83	25.87	28.83
6903	0.51	242.6	174.0	6.3	487	6924	0.00	0.00	18.88	0.641	6	0.000	0.000	3372	2325	1804	0	0	0	0	0	0	28.83	28.83	24.53
7219	0.52	247.1	151.8	6.8	508	7231	0.00	0.00	4.88	0.483	6	0.000	0.000	3372	2325	1786	0	0	0	0	0	0	28.83	28.83	24.31
7533	0.52	247.1	131.8	7.3	529	7538	0.00	2.17	0.00	0.000	4	0.000	0.052	3380	920	1784	0	0	0	0	0	0	28.83	25.82	28.83
7585	0.52	247.1	128.3	7.6	532	7592	0.00	2.20	0.00	0.000	6	0.000	0.051	3380	2336	1784	0	0	0	0	0	0	28.83	25.82	28.83
7894	0.52	247.1	105.7	8.0	579	7900	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2336	1783	0	0	0	0	0	0	28.83	28.83	28.83
8204	0.53	289.0	85.1	5.4	640	8246	0.00	2.33	35.65	0.602	4	0.000	0.051	3382	914	1614	0	0	0	0	0	0	28.83	25.66	24.58
8300	0.56	355.8	80.2	4.4	657	8364	0.00	2.20	54.90	0.591	6	0.000	0.050	3381	2327	1340	0	0	0	0	0	0	28.83	25.64	24.34
8670	0.57	385.8	61.1	5.8	728	8701	0.00	2.30	23.92	0.568	4	0.000	0.050	3382	919	1218	0	0	0	0	0	0	28.83	25.58	24.54
8760	0.57	385.8	54.2	10.1	744	8767	0.00	2.20	0.00	0.000	6	0.000	0.048	3382	2329	1216	0	0	0	0	0	0	28.83	25.60	28.83
9071	0.57	385.8	20.8	10.6	805	9078	0.00	2.25	0.00	0.000	4	0.000	0.062	3382	3736	1214	0	0	0	0	0	0	28.83	25.68	28.83
9132	0.57	385.8	14.7	9.9	816	9139	0.00	2.20	0.00	0.000	6	0.000	0.043	3382	2308	1213	0	0	0	0	0	0	28.83	25.86	28.83
9254	end climb: SURFACE_DEPTH_REACHED
state	9254	begin surface coast
9288	end surface coast: CONTROL_FINISHED_OK
state	9288	begin surface