Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 71 * 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 71 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2000 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 28 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 32 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 1 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 270 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 360 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 0.0012300001 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 -24758.773 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 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 200 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 2850 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 23 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 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 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 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.015 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 23 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 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 270

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 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -24758.773

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 360

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 1 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2850 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 2000 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 28 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 200 R_STBD_OVSHOOT 32 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 71 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 223955,4743.521,-12514.885,40,1.5,41,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 224443,4743.475,-12514.879,10,1.3,15,18.7 MHEAD_RNG_PITCHd_Wd 220.1,155280,-17.9,-12.222

SPEED_LIMITS 0.212,0.316 D_GRID 796

Post-dive calculations and measurements:

FINISH 0.5,1.023906 _10V_AH 10.3,4.717

SM_CCo 11389,0.00,0.000,0,0,1334,445.46 FG_AHR_24Vo 0.000

SM_GC 1.38,7.90,0.00,0.00,0.046,0.000,0.000,149,1983,1334,-8.39,-0.48,445.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12504.76,121099,191930 MEM 298576

TT8_MAMPS 0.051389 DATA_FILE_SIZE 56969,1000

HUMID 40.58 CAP_FILE_SIZE 120420,0

INTERNAL_PRESSURE 8.9718 CFSIZE 260165632,254652416

TCM_TEMP 15.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.067,342.4,1

_24V_AH 23.4,8.846 GPS 190710,015536,4742.895,-12517.659,38,1.4,44,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 250 125.15 SBE_CT 689 24 387.07

Roll_motor 79 79 148.86 SBE_O2 815 19 362.62

VBD_pump_during_apogee 551 1096 14165.35 WL_BBFL2VMT 942 105 2314.96

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 30 103 72.55 nil 0 0 0.00

Iridium_during_connect 34 160 127.82 nil 0 0 0.00

Iridium_during_xfer 146 223 763.11

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.04

TT8 0 19 0.00

LPSleep 8341 2 188.16

TT8_Active 636 19 129.88

TT8_Sampling 2371 39 972.02

TT8_CF8 310 45 146.64

TT8_Kalman 0 0 0.00

Analog_circuits 1530 12 189.20

GPS_charging 0 0 0.00

Compass 2004 8 165.20

RAFOS 0 0 0.00

Transponder 0 30 0.17

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 -1.02 -195.5 0.0 0.0 0 92 0.00 0.00 -77.78 0.000 2 0.000 0.000 132 2103 3100 0 0 0 0 0 0

93 -1.02 -195.5 3.1 -6.6 14 126 9.75 1.83 -17.40 0.000 4 0.251 0.080 2507 3226 3949 0 0 0 0 0 0

200 -0.86 -195.5 37.2 -25.3 34 207 0.20 1.95 0.00 0.000 6 0.154 0.052 2565 2003 3950 0 0 0 0 0 0

530 -0.77 -195.5 109.4 -20.2 92 534 0.12 1.98 0.00 0.000 4 0.188 0.059 2598 758 3952 0 0 0 0 0 0

584 -0.73 -195.5 118.8 -17.2 97 587 0.00 1.95 0.00 0.000 6 0.000 0.056 2593 1991 3952 0 0 0 0 0 0

903 -0.69 -195.5 169.6 -15.8 128 908 0.12 2.00 0.00 0.000 4 0.173 0.065 2619 3231 3953 0 0 0 0 0 0

930 -0.69 -195.5 173.4 -14.0 130 936 0.00 1.95 0.00 0.000 6 0.000 0.051 2619 1996 3953 0 0 0 0 0 0

1245 -0.69 -195.5 214.5 -12.9 161 1250 0.00 2.03 0.00 0.000 4 0.000 0.066 2610 3234 3953 0 0 0 0 0 0

1277 -0.71 -195.5 218.5 -12.6 164 1282 0.00 1.92 0.00 0.000 6 0.000 0.051 2611 2004 3954 0 0 0 0 0 0

1598 -0.71 -195.5 264.2 -14.6 195 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2001 3953 0 0 0 0 0 0

1909 -0.71 -195.5 307.6 -13.7 225 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2001 3953 0 0 0 0 0 0

2219 -0.71 -195.5 350.8 -14.1 255 2220 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2001 3954 0 0 0 0 0 0

2530 -0.71 -195.5 391.7 -12.6 285 2534 0.00 1.98 0.00 0.000 4 0.000 0.069 2603 3223 3953 0 0 0 0 0 0

2550 -0.71 -195.5 394.3 -12.5 287 2555 0.00 1.92 0.00 0.000 6 0.000 0.054 2602 1999 3954 0 0 0 0 0 0

2871 -0.71 -195.5 434.7 -12.5 318 2875 0.00 1.95 0.00 0.000 4 0.000 0.062 2602 756 3954 0 0 0 0 0 0

2908 -0.71 -195.5 439.6 -12.4 321 2915 0.00 1.98 0.00 0.000 6 0.000 0.058 2600 2006 3954 0 0 0 0 0 0

3224 -0.71 -195.5 482.1 -13.2 352 3225 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2006 3954 0 0 0 0 0 0

3535 -0.71 -195.5 524.8 -14.0 382 3538 0.00 1.98 0.00 0.000 4 0.000 0.070 2592 3233 3954 0 0 0 0 0 0

3581 -0.73 -195.5 531.3 -13.1 386 3588 0.00 1.95 0.00 0.000 6 0.000 0.054 2592 1994 3954 0 0 0 0 0 0

3897 -0.73 -195.5 576.2 -13.4 417 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 1992 3954 0 0 0 0 0 0

4204 -0.73 -195.5 617.3 -13.7 439 4205 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 1992 3954 0 0 0 0 0 0

4508 -0.73 -195.5 659.4 -13.5 449 4509 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 1992 3955 0 0 0 0 0 0

4811 -0.73 -195.5 699.8 -13.1 459 4817 0.00 1.95 0.00 0.000 4 0.000 0.064 2592 766 3955 0 0 0 0 0 0

4854 -0.73 -195.5 705.8 -14.3 460 4859 0.00 1.95 0.00 0.000 6 0.000 0.061 2585 1998 3954 0 0 0 0 0 0

5179 -0.71 -195.5 749.6 -13.1 471 5180 0.12 0.00 0.00 0.000 6 0.181 0.000 2617 1999 3955 0 0 0 0 0 0

5482 -0.73 -195.5 782.6 -10.2 481 5483 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2001 3955 0 0 0 0 0 0

5663 end dive: TARGET_DEPTH_EXCEEDED

state 5663 begin apogee

5665 -0.22 0.0 798.1 8.1 487 5834 0.47 0.00 167.05 1.097 6 0.128 0.000 2774 2001 3150 0 0 0 0 0 0

5835 end apogee: CONTROL_FINISHED_OK

state 5835 begin climb

5836 1.02 195.5 800.6 0.0 492 6012 1.20 0.00 171.68 1.055 6 0.077 0.000 3174 2001 2353 0 0 0 0 0 0

6288 0.77 195.5 713.7 23.0 507 6293 0.30 2.08 0.00 0.000 4 0.202 0.067 3100 3231 2347 0 0 0 0 0 0

6347 0.60 195.5 702.0 18.4 508 6355 0.20 2.05 0.00 0.000 6 0.184 0.057 3050 1996 2346 0 0 0 0 0 0

6656 0.51 195.5 658.6 13.9 519 6660 0.12 2.05 0.00 0.000 4 0.179 0.067 3017 3227 2347 0 0 0 0 0 0

6703 0.45 195.5 652.3 13.0 520 6708 0.00 2.00 0.00 0.000 6 0.000 0.057 3024 2000 2347 0 0 0 0 0 0

7022 0.40 195.5 613.2 12.2 531 7027 0.15 2.03 0.00 0.000 4 0.170 0.068 2983 3227 2348 0 0 0 0 0 0

7065 0.47 250.6 608.7 9.9 532 7117 0.00 2.00 47.10 0.967 6 0.000 0.058 2986 1994 2127 0 0 0 0 0 0

7425 0.57 308.8 573.9 9.8 560 7480 0.12 2.17 50.60 0.943 4 0.096 0.068 3040 3238 1891 0 0 0 0 0 0

7511 0.55 308.8 562.6 14.3 568 7515 0.00 2.05 0.00 0.000 6 0.000 0.058 3042 2015 1887 0 0 0 0 0 0

7831 0.53 308.8 517.2 14.2 599 7836 0.00 2.08 0.00 0.000 4 0.000 0.067 3050 757 1883 0 0 0 0 0 0

7873 0.53 308.8 511.0 14.3 603 7878 0.00 2.05 0.00 0.000 6 0.000 0.058 3050 2013 1883 0 0 0 0 0 0

8195 0.50 308.8 460.8 16.3 634 8199 0.15 1.98 0.00 0.000 4 0.163 0.068 3010 3231 1883 0 0 0 0 0 0

8237 0.52 308.8 455.0 13.2 638 8241 0.00 2.00 0.00 0.000 6 0.000 0.058 3013 2000 1882 0 0 0 0 0 0

8558 0.60 346.7 418.2 10.6 669 8593 0.00 2.00 32.08 0.861 4 0.000 0.067 3016 760 1735 0 0 0 0 0 0

8652 0.75 418.0 409.2 9.2 677 8719 0.17 2.03 61.17 0.842 6 0.055 0.058 3098 2008 1444 0 0 0 0 0 0

9028 0.70 418.0 341.3 18.8 714 9029 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2008 1436 0 0 0 0 0 0

9339 0.65 418.0 281.2 19.3 744 9343 0.15 2.03 0.00 0.000 4 0.160 0.068 3064 759 1434 0 0 0 0 0 0

9375 0.67 418.0 274.9 16.2 747 9383 0.00 2.03 0.00 0.000 6 0.000 0.058 3064 2010 1434 0 0 0 0 0 0

9692 0.67 418.0 228.5 13.7 778 9696 0.00 2.03 0.00 0.000 4 0.000 0.070 3070 759 1433 0 0 0 0 0 0

9733 0.70 418.0 223.0 13.4 782 9738 0.00 2.00 0.00 0.000 6 0.000 0.058 3069 2004 1433 0 0 0 0 0 0

10054 0.70 418.0 177.2 14.9 813 10055 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2005 1432 0 0 0 0 0 0

10365 0.70 418.0 128.9 14.7 843 10369 0.00 2.00 0.00 0.000 4 0.000 0.070 3076 759 1433 0 0 0 0 0 0

10434 0.75 431.0 120.0 11.7 849 10451 0.00 1.98 10.07 0.657 6 0.000 0.058 3076 1998 1393 0 0 0 0 0 0

10766 0.78 431.0 75.5 12.9 897 10773 0.00 1.98 0.00 0.000 4 0.000 0.069 3082 767 1390 0 0 0 0 0 0

10793 0.83 432.5 72.3 12.2 902 10800 0.05 1.92 0.00 0.000 6 0.079 0.059 3121 1981 1390 0 0 0 0 0 0

11120 0.83 432.5 24.4 13.9 963 11126 0.00 2.03 0.00 0.000 4 0.000 0.068 3121 3233 1391 0 0 0 0 0 0

11178 0.86 444.0 16.8 11.7 974 11196 0.00 1.98 12.18 0.607 6 0.000 0.057 3124 1987 1339 0 0 0 0 0 0

11296 end climb: SURFACE_DEPTH_REACHED

state 11296 begin surface coast

11317 end surface coast: CONTROL_FINISHED_OK

state 11317 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	71	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2000	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	28	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	32	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	1	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	270	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	360	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	0.0012300001	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	-24758.773	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	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	200	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	2850	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	23	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	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	223955,4743.521,-12514.885,40,1.5,41,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	224443,4743.475,-12514.879,10,1.3,15,18.7	MHEAD_RNG_PITCHd_Wd	220.1,155280,-17.9,-12.222
SPEED_LIMITS	0.212,0.316	D_GRID	796

FINISH	0.5,1.023906	_10V_AH	10.3,4.717
SM_CCo	11389,0.00,0.000,0,0,1334,445.46	FG_AHR_24Vo	0.000
SM_GC	1.38,7.90,0.00,0.00,0.046,0.000,0.000,149,1983,1334,-8.39,-0.48,445.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12504.76,121099,191930	MEM	298576
TT8_MAMPS	0.051389	DATA_FILE_SIZE	56969,1000
HUMID	40.58	CAP_FILE_SIZE	120420,0
INTERNAL_PRESSURE	8.9718	CFSIZE	260165632,254652416
TCM_TEMP	15.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.067,342.4,1
_24V_AH	23.4,8.846	GPS	190710,015536,4742.895,-12517.659,38,1.4,44,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	250	125.15	SBE_CT	689	24	387.07
Roll_motor	79	79	148.86	SBE_O2	815	19	362.62
VBD_pump_during_apogee	551	1096	14165.35	WL_BBFL2VMT	942	105	2314.96
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	30	103	72.55	nil	0	0	0.00
Iridium_during_connect	34	160	127.82	nil	0	0	0.00
Iridium_during_xfer	146	223	763.11
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.04
TT8	0	19	0.00
LPSleep	8341	2	188.16
TT8_Active	636	19	129.88
TT8_Sampling	2371	39	972.02
TT8_CF8	310	45	146.64
TT8_Kalman	0	0	0.00
Analog_circuits	1530	12	189.20
GPS_charging	0	0	0.00
Compass	2004	8	165.20
RAFOS	0	0	0.00
Transponder	0	30	0.17

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	-1.02	-195.5	0.0	0.0	0	92	0.00	0.00	-77.78	0.000	2	0.000	0.000	132	2103	3100	0	0	0	0	0	0
93	-1.02	-195.5	3.1	-6.6	14	126	9.75	1.83	-17.40	0.000	4	0.251	0.080	2507	3226	3949	0	0	0	0	0	0
200	-0.86	-195.5	37.2	-25.3	34	207	0.20	1.95	0.00	0.000	6	0.154	0.052	2565	2003	3950	0	0	0	0	0	0
530	-0.77	-195.5	109.4	-20.2	92	534	0.12	1.98	0.00	0.000	4	0.188	0.059	2598	758	3952	0	0	0	0	0	0
584	-0.73	-195.5	118.8	-17.2	97	587	0.00	1.95	0.00	0.000	6	0.000	0.056	2593	1991	3952	0	0	0	0	0	0
903	-0.69	-195.5	169.6	-15.8	128	908	0.12	2.00	0.00	0.000	4	0.173	0.065	2619	3231	3953	0	0	0	0	0	0
930	-0.69	-195.5	173.4	-14.0	130	936	0.00	1.95	0.00	0.000	6	0.000	0.051	2619	1996	3953	0	0	0	0	0	0
1245	-0.69	-195.5	214.5	-12.9	161	1250	0.00	2.03	0.00	0.000	4	0.000	0.066	2610	3234	3953	0	0	0	0	0	0
1277	-0.71	-195.5	218.5	-12.6	164	1282	0.00	1.92	0.00	0.000	6	0.000	0.051	2611	2004	3954	0	0	0	0	0	0
1598	-0.71	-195.5	264.2	-14.6	195	1598	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2001	3953	0	0	0	0	0	0
1909	-0.71	-195.5	307.6	-13.7	225	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2001	3953	0	0	0	0	0	0
2219	-0.71	-195.5	350.8	-14.1	255	2220	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2001	3954	0	0	0	0	0	0
2530	-0.71	-195.5	391.7	-12.6	285	2534	0.00	1.98	0.00	0.000	4	0.000	0.069	2603	3223	3953	0	0	0	0	0	0
2550	-0.71	-195.5	394.3	-12.5	287	2555	0.00	1.92	0.00	0.000	6	0.000	0.054	2602	1999	3954	0	0	0	0	0	0
2871	-0.71	-195.5	434.7	-12.5	318	2875	0.00	1.95	0.00	0.000	4	0.000	0.062	2602	756	3954	0	0	0	0	0	0
2908	-0.71	-195.5	439.6	-12.4	321	2915	0.00	1.98	0.00	0.000	6	0.000	0.058	2600	2006	3954	0	0	0	0	0	0
3224	-0.71	-195.5	482.1	-13.2	352	3225	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2006	3954	0	0	0	0	0	0
3535	-0.71	-195.5	524.8	-14.0	382	3538	0.00	1.98	0.00	0.000	4	0.000	0.070	2592	3233	3954	0	0	0	0	0	0
3581	-0.73	-195.5	531.3	-13.1	386	3588	0.00	1.95	0.00	0.000	6	0.000	0.054	2592	1994	3954	0	0	0	0	0	0
3897	-0.73	-195.5	576.2	-13.4	417	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	1992	3954	0	0	0	0	0	0
4204	-0.73	-195.5	617.3	-13.7	439	4205	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	1992	3954	0	0	0	0	0	0
4508	-0.73	-195.5	659.4	-13.5	449	4509	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	1992	3955	0	0	0	0	0	0
4811	-0.73	-195.5	699.8	-13.1	459	4817	0.00	1.95	0.00	0.000	4	0.000	0.064	2592	766	3955	0	0	0	0	0	0
4854	-0.73	-195.5	705.8	-14.3	460	4859	0.00	1.95	0.00	0.000	6	0.000	0.061	2585	1998	3954	0	0	0	0	0	0
5179	-0.71	-195.5	749.6	-13.1	471	5180	0.12	0.00	0.00	0.000	6	0.181	0.000	2617	1999	3955	0	0	0	0	0	0
5482	-0.73	-195.5	782.6	-10.2	481	5483	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2001	3955	0	0	0	0	0	0
5663	end dive: TARGET_DEPTH_EXCEEDED
state	5663	begin apogee
5665	-0.22	0.0	798.1	8.1	487	5834	0.47	0.00	167.05	1.097	6	0.128	0.000	2774	2001	3150	0	0	0	0	0	0
5835	end apogee: CONTROL_FINISHED_OK
state	5835	begin climb
5836	1.02	195.5	800.6	0.0	492	6012	1.20	0.00	171.68	1.055	6	0.077	0.000	3174	2001	2353	0	0	0	0	0	0
6288	0.77	195.5	713.7	23.0	507	6293	0.30	2.08	0.00	0.000	4	0.202	0.067	3100	3231	2347	0	0	0	0	0	0
6347	0.60	195.5	702.0	18.4	508	6355	0.20	2.05	0.00	0.000	6	0.184	0.057	3050	1996	2346	0	0	0	0	0	0
6656	0.51	195.5	658.6	13.9	519	6660	0.12	2.05	0.00	0.000	4	0.179	0.067	3017	3227	2347	0	0	0	0	0	0
6703	0.45	195.5	652.3	13.0	520	6708	0.00	2.00	0.00	0.000	6	0.000	0.057	3024	2000	2347	0	0	0	0	0	0
7022	0.40	195.5	613.2	12.2	531	7027	0.15	2.03	0.00	0.000	4	0.170	0.068	2983	3227	2348	0	0	0	0	0	0
7065	0.47	250.6	608.7	9.9	532	7117	0.00	2.00	47.10	0.967	6	0.000	0.058	2986	1994	2127	0	0	0	0	0	0
7425	0.57	308.8	573.9	9.8	560	7480	0.12	2.17	50.60	0.943	4	0.096	0.068	3040	3238	1891	0	0	0	0	0	0
7511	0.55	308.8	562.6	14.3	568	7515	0.00	2.05	0.00	0.000	6	0.000	0.058	3042	2015	1887	0	0	0	0	0	0
7831	0.53	308.8	517.2	14.2	599	7836	0.00	2.08	0.00	0.000	4	0.000	0.067	3050	757	1883	0	0	0	0	0	0
7873	0.53	308.8	511.0	14.3	603	7878	0.00	2.05	0.00	0.000	6	0.000	0.058	3050	2013	1883	0	0	0	0	0	0
8195	0.50	308.8	460.8	16.3	634	8199	0.15	1.98	0.00	0.000	4	0.163	0.068	3010	3231	1883	0	0	0	0	0	0
8237	0.52	308.8	455.0	13.2	638	8241	0.00	2.00	0.00	0.000	6	0.000	0.058	3013	2000	1882	0	0	0	0	0	0
8558	0.60	346.7	418.2	10.6	669	8593	0.00	2.00	32.08	0.861	4	0.000	0.067	3016	760	1735	0	0	0	0	0	0
8652	0.75	418.0	409.2	9.2	677	8719	0.17	2.03	61.17	0.842	6	0.055	0.058	3098	2008	1444	0	0	0	0	0	0
9028	0.70	418.0	341.3	18.8	714	9029	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2008	1436	0	0	0	0	0	0
9339	0.65	418.0	281.2	19.3	744	9343	0.15	2.03	0.00	0.000	4	0.160	0.068	3064	759	1434	0	0	0	0	0	0
9375	0.67	418.0	274.9	16.2	747	9383	0.00	2.03	0.00	0.000	6	0.000	0.058	3064	2010	1434	0	0	0	0	0	0
9692	0.67	418.0	228.5	13.7	778	9696	0.00	2.03	0.00	0.000	4	0.000	0.070	3070	759	1433	0	0	0	0	0	0
9733	0.70	418.0	223.0	13.4	782	9738	0.00	2.00	0.00	0.000	6	0.000	0.058	3069	2004	1433	0	0	0	0	0	0
10054	0.70	418.0	177.2	14.9	813	10055	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2005	1432	0	0	0	0	0	0
10365	0.70	418.0	128.9	14.7	843	10369	0.00	2.00	0.00	0.000	4	0.000	0.070	3076	759	1433	0	0	0	0	0	0
10434	0.75	431.0	120.0	11.7	849	10451	0.00	1.98	10.07	0.657	6	0.000	0.058	3076	1998	1393	0	0	0	0	0	0
10766	0.78	431.0	75.5	12.9	897	10773	0.00	1.98	0.00	0.000	4	0.000	0.069	3082	767	1390	0	0	0	0	0	0
10793	0.83	432.5	72.3	12.2	902	10800	0.05	1.92	0.00	0.000	6	0.079	0.059	3121	1981	1390	0	0	0	0	0	0
11120	0.83	432.5	24.4	13.9	963	11126	0.00	2.03	0.00	0.000	4	0.000	0.068	3121	3233	1391	0	0	0	0	0	0
11178	0.86	444.0	16.8	11.7	974	11196	0.00	1.98	12.18	0.607	6	0.000	0.057	3124	1987	1339	0	0	0	0	0	0
11296	end climb: SURFACE_DEPTH_REACHED
state	11296	begin surface coast
11317	end surface coast: CONTROL_FINISHED_OK
state	11317	begin surface