Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 826 * 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 826 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 44 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 10 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 -1590025.2 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 -1590025.2

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 10

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 44 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 25 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 826 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 180413,234932,4749.931,-12515.001,16,1.9,17,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.10 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.6 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 180413,235603,4749.908,-12514.944,13,3.1,32,18.7 MHEAD_RNG_PITCHd_Wd 237.5,685,-23.7,-7.021,-27.17

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.015320 _10V_AH 9.9,85.796

SM_CCo 10127,82.88,0.464,5,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.21,8.62,2.50,82.88,0.025,0.044,0.464,115,2190,1570,-9.47,1.02,300.00,0,0,0,0,5,0,25.77,25.41,23.93 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12512.90,180413,212154 MEM 296764

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46981,888

HUMID 48.03 CAP_FILE_SIZE 101287,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,188657664

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

XPDR_PINGS 1 CURRENT 0.107, 82.4,1

_24V_AH 23.4,115.231 GPS 190413,024900,4749.596,-12515.226,54,1.9,55,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 217 112.23 SBE_CT 609 24 342.49

Roll_motor 92 82 178.78 SBE_O2 574 19 255.37

VBD_pump_during_apogee 235 839 4619.49 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 82 463 899.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.43 nil 0 0 0.00

Iridium_during_connect 39 160 149.43 nil 0 0 0.00

Iridium_during_xfer 171 223 896.63 nil 0 0 0.00

Transponder_ping 0 420 2.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.80

TT8 2272 19 445.41

LPSleep 5904 2 128.02

TT8_Active 501 19 98.36

TT8_Sampling 1702 39 670.85

TT8_CF8 264 45 119.78

TT8_Kalman 0 0 0.00

Analog_circuits 1261 12 149.86

GPS_charging 0 0 0.00

Compass 1434 15 213.01

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.76 -47.2 0.0 0.0 0 70 0.00 0.00 -50.20 0.000 2 0.000 0.000 106 2191 2683 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.77 -81.9 3.4 -3.4 9 101 11.32 2.28 -9.65 0.000 4 0.217 0.060 2935 791 3131 0 0 0 0 0 0 24.53 25.41 26.18

148 -0.77 -81.9 24.9 -25.4 22 155 0.00 2.22 0.00 0.000 6 0.000 0.050 2928 2203 3133 0 0 0 0 0 0 28.83 25.30 28.83

461 -0.77 -81.9 92.8 -16.2 83 467 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2203 3134 0 0 0 0 0 0 28.83 28.83 28.83

780 -0.77 -81.9 144.0 -15.7 126 789 0.00 2.28 0.00 0.000 4 0.000 0.048 2928 801 3134 0 0 0 0 0 0 28.83 25.17 28.83

890 -0.77 -81.9 161.7 -15.5 137 899 0.00 2.25 0.00 0.000 6 0.000 0.049 2917 2195 3134 0 0 0 0 0 0 28.83 25.17 28.83

1216 -0.77 -81.9 210.9 -14.6 158 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2917 2195 3134 0 0 0 0 0 0 28.83 28.83 28.83

1517 -0.77 -81.9 255.3 -14.6 173 1521 0.00 2.20 0.00 0.000 4 0.000 0.049 2917 795 3134 0 0 0 0 0 0 28.83 25.11 28.83

1593 -0.77 -81.9 266.2 -15.4 176 1598 0.15 2.30 0.00 0.000 6 0.155 0.050 2944 2207 3134 0 0 0 0 0 0 24.79 25.09 28.83

1896 -0.77 -81.9 308.5 -13.5 191 1901 0.00 2.28 0.00 0.000 4 0.000 0.049 2944 797 3134 0 0 0 0 0 0 28.83 25.08 28.83

1925 -0.77 -81.9 311.2 -13.7 192 1934 0.00 2.30 0.00 0.000 6 0.000 0.050 2936 2207 3134 0 0 0 0 0 0 28.83 25.08 28.83

2235 -0.77 -81.9 355.0 -13.9 208 2241 0.00 2.33 0.00 0.000 4 0.000 0.060 2925 3609 3134 0 0 0 0 0 0 28.83 24.86 28.83

2337 -0.77 -81.9 370.5 -15.7 213 2341 0.00 2.25 0.00 0.000 6 0.000 0.042 2925 2209 3134 0 0 0 0 0 0 28.83 25.29 28.83

2655 -0.77 -81.9 417.2 -14.0 227 2661 0.00 2.30 0.00 0.000 4 0.000 0.049 2925 789 3134 0 0 0 0 0 0 28.83 25.03 28.83

2783 -0.77 -81.9 433.9 -13.9 231 2788 0.12 2.30 0.00 0.000 6 0.158 0.050 2944 2200 3134 0 0 0 0 0 0 24.79 25.03 28.83

3097 -0.77 -81.9 472.2 -11.7 242 3102 0.00 2.25 0.00 0.000 4 0.000 0.050 2944 802 3133 0 0 0 0 0 0 28.83 25.03 28.83

3174 -0.77 -81.9 479.7 -12.2 244 3178 0.00 2.30 0.00 0.000 6 0.000 0.050 2936 2205 3134 0 0 0 0 0 0 28.83 25.01 28.83

3204 end dive: TARGET_DEPTH_EXCEEDED

state 3204 begin apogee

3211 -0.22 0.0 486.0 -12.5 245 3287 0.57 0.00 72.53 0.840 6 0.125 0.000 3116 2344 2794 0 0 0 0 0 0 24.58 28.83 23.58

3288 end apogee: CONTROL_FINISHED_OK

state 3288 begin climb

3292 0.77 81.9 489.6 0.0 247 3377 0.95 2.33 75.45 0.807 4 0.076 0.062 3440 3730 2458 0 0 0 0 0 0 24.80 24.73 23.36

3436 0.77 81.9 482.6 7.2 252 3442 0.00 2.30 0.00 0.000 6 0.000 0.045 3451 2324 2455 0 0 0 0 0 0 28.83 25.28 28.83

3767 0.77 81.9 452.6 8.5 263 3772 0.00 2.28 0.00 0.000 4 0.000 0.053 3462 927 2451 0 0 0 0 0 0 28.83 25.34 28.83

3856 0.77 81.9 444.5 8.9 266 3862 0.00 2.28 0.00 0.000 6 0.000 0.054 3462 2316 2450 0 0 0 0 0 0 28.83 25.32 28.83

4187 0.77 81.9 413.8 9.2 277 4192 0.00 2.38 0.00 0.000 4 0.000 0.064 3462 3737 2450 0 0 0 0 0 0 28.83 25.10 28.83

4388 0.77 81.9 392.8 10.8 285 4393 0.08 2.28 0.00 0.000 6 0.167 0.047 3451 2326 2448 0 0 0 0 0 0 25.02 25.38 28.83

4708 0.77 81.9 366.1 8.1 301 4712 0.00 2.25 0.00 0.000 4 0.000 0.054 3460 914 2447 0 0 0 0 0 0 28.83 25.15 28.83

4776 0.77 81.9 360.6 7.9 304 4782 0.00 2.33 0.00 0.000 6 0.000 0.054 3460 2327 2448 0 0 0 0 0 0 28.83 25.14 28.83

5097 0.77 81.9 336.2 7.4 320 5102 0.00 2.35 0.00 0.000 4 0.000 0.065 3460 3729 2447 0 0 0 0 0 0 28.83 24.95 28.83

5336 0.77 81.9 315.8 8.9 332 5342 0.00 2.30 0.00 0.000 6 0.000 0.046 3472 2319 2446 0 0 0 0 0 0 28.83 25.29 28.83

5657 0.77 81.9 291.2 7.7 348 5662 0.00 2.40 0.00 0.000 4 0.000 0.064 3472 3738 2446 0 0 0 0 0 0 28.83 24.89 28.83

5764 0.77 81.9 282.3 9.1 353 5769 0.15 2.33 0.00 0.000 6 0.179 0.046 3448 2317 2445 0 0 0 0 0 0 24.80 25.26 28.83

6066 0.77 81.9 260.1 7.2 368 6072 0.00 2.40 0.00 0.000 4 0.000 0.064 3448 3732 2444 0 0 0 0 0 0 28.83 24.85 28.83

6307 0.77 81.9 240.6 8.6 380 6312 0.00 2.28 0.00 0.000 6 0.000 0.047 3457 2326 2444 0 0 0 0 0 0 28.83 25.24 28.83

6626 0.77 81.9 216.3 7.0 396 6632 0.00 2.40 0.00 0.000 4 0.000 0.063 3457 3737 2444 0 0 0 0 0 0 28.83 24.83 28.83

6827 0.77 81.9 200.2 7.9 406 6832 0.00 2.30 0.00 0.000 6 0.000 0.046 3469 2320 2444 0 0 0 0 0 0 28.83 25.22 28.83

7146 0.77 81.9 177.9 7.1 427 7147 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 2320 2444 0 0 0 0 0 0 28.83 28.83 28.83

7449 0.77 83.8 157.0 6.8 447 7450 0.00 0.00 0.00 0.000 6 0.000 0.000 3469 2320 2444 0 0 0 0 0 0 28.83 28.83 28.83

7747 0.78 97.3 138.9 5.6 467 7767 0.00 2.35 12.32 0.597 4 0.000 0.062 3468 3743 2396 0 0 0 0 0 0 28.83 25.13 24.06

7777 0.78 105.9 137.0 6.1 470 7796 0.10 2.30 9.50 0.574 6 0.158 0.046 3450 2320 2362 0 0 0 0 0 0 25.02 25.41 23.96

8099 0.78 105.9 113.7 7.2 502 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2320 2360 0 0 0 0 0 0 28.83 28.83 28.83

8411 0.78 110.3 92.0 6.6 563 8424 0.00 2.35 5.25 0.477 4 0.000 0.064 3450 3740 2344 0 0 0 0 0 0 28.83 25.28 24.13

8542 0.79 111.6 82.8 6.9 587 8549 0.00 2.22 0.00 0.000 6 0.000 0.046 3459 2322 2342 0 0 0 0 0 0 28.83 25.41 28.83

8853 0.79 132.2 68.3 4.9 648 8880 0.00 2.40 20.52 0.581 4 0.000 0.063 3459 3736 2254 0 0 0 0 0 0 28.83 25.27 24.12

8954 0.79 132.2 62.3 7.5 666 8961 0.00 2.25 0.00 0.000 6 0.000 0.046 3470 2319 2252 0 0 0 0 0 0 28.83 25.48 28.83

9266 0.80 157.5 48.0 4.4 727 9297 0.00 2.35 22.65 0.568 4 0.000 0.063 3471 3746 2149 0 0 0 0 0 0 28.83 25.30 24.10

9529 0.81 161.9 29.8 6.6 777 9542 0.00 2.25 4.55 0.417 6 0.000 0.044 3482 2321 2133 0 0 0 0 0 0 28.83 25.41 24.14

9850 0.81 174.3 13.4 5.7 839 9869 0.00 2.33 12.25 0.522 4 0.000 0.062 3482 3744 2081 0 0 0 0 0 0 28.83 25.37 24.17

10016 end climb: SURFACE_DEPTH_REACHED

state 10016 begin surface coast

10103 end surface coast: CONTROL_FINISHED_OK

state 10103 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	826	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	44	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	10	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	-1590025.2	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	180413,234932,4749.931,-12515.001,16,1.9,17,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.10	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.6	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	180413,235603,4749.908,-12514.944,13,3.1,32,18.7	MHEAD_RNG_PITCHd_Wd	237.5,685,-23.7,-7.021,-27.17
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.015320	_10V_AH	9.9,85.796
SM_CCo	10127,82.88,0.464,5,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.21,8.62,2.50,82.88,0.025,0.044,0.464,115,2190,1570,-9.47,1.02,300.00,0,0,0,0,5,0,25.77,25.41,23.93	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12512.90,180413,212154	MEM	296764
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46981,888
HUMID	48.03	CAP_FILE_SIZE	101287,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,188657664
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
XPDR_PINGS	1	CURRENT	0.107, 82.4,1
_24V_AH	23.4,115.231	GPS	190413,024900,4749.596,-12515.226,54,1.9,55,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	217	112.23	SBE_CT	609	24	342.49
Roll_motor	92	82	178.78	SBE_O2	574	19	255.37
VBD_pump_during_apogee	235	839	4619.49	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	82	463	899.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.43	nil	0	0	0.00
Iridium_during_connect	39	160	149.43	nil	0	0	0.00
Iridium_during_xfer	171	223	896.63	nil	0	0	0.00
Transponder_ping	0	420	2.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.80
TT8	2272	19	445.41
LPSleep	5904	2	128.02
TT8_Active	501	19	98.36
TT8_Sampling	1702	39	670.85
TT8_CF8	264	45	119.78
TT8_Kalman	0	0	0.00
Analog_circuits	1261	12	149.86
GPS_charging	0	0	0.00
Compass	1434	15	213.01
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.76	-47.2	0.0	0.0	0	70	0.00	0.00	-50.20	0.000	2	0.000	0.000	106	2191	2683	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.77	-81.9	3.4	-3.4	9	101	11.32	2.28	-9.65	0.000	4	0.217	0.060	2935	791	3131	0	0	0	0	0	0	24.53	25.41	26.18
148	-0.77	-81.9	24.9	-25.4	22	155	0.00	2.22	0.00	0.000	6	0.000	0.050	2928	2203	3133	0	0	0	0	0	0	28.83	25.30	28.83
461	-0.77	-81.9	92.8	-16.2	83	467	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2203	3134	0	0	0	0	0	0	28.83	28.83	28.83
780	-0.77	-81.9	144.0	-15.7	126	789	0.00	2.28	0.00	0.000	4	0.000	0.048	2928	801	3134	0	0	0	0	0	0	28.83	25.17	28.83
890	-0.77	-81.9	161.7	-15.5	137	899	0.00	2.25	0.00	0.000	6	0.000	0.049	2917	2195	3134	0	0	0	0	0	0	28.83	25.17	28.83
1216	-0.77	-81.9	210.9	-14.6	158	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2917	2195	3134	0	0	0	0	0	0	28.83	28.83	28.83
1517	-0.77	-81.9	255.3	-14.6	173	1521	0.00	2.20	0.00	0.000	4	0.000	0.049	2917	795	3134	0	0	0	0	0	0	28.83	25.11	28.83
1593	-0.77	-81.9	266.2	-15.4	176	1598	0.15	2.30	0.00	0.000	6	0.155	0.050	2944	2207	3134	0	0	0	0	0	0	24.79	25.09	28.83
1896	-0.77	-81.9	308.5	-13.5	191	1901	0.00	2.28	0.00	0.000	4	0.000	0.049	2944	797	3134	0	0	0	0	0	0	28.83	25.08	28.83
1925	-0.77	-81.9	311.2	-13.7	192	1934	0.00	2.30	0.00	0.000	6	0.000	0.050	2936	2207	3134	0	0	0	0	0	0	28.83	25.08	28.83
2235	-0.77	-81.9	355.0	-13.9	208	2241	0.00	2.33	0.00	0.000	4	0.000	0.060	2925	3609	3134	0	0	0	0	0	0	28.83	24.86	28.83
2337	-0.77	-81.9	370.5	-15.7	213	2341	0.00	2.25	0.00	0.000	6	0.000	0.042	2925	2209	3134	0	0	0	0	0	0	28.83	25.29	28.83
2655	-0.77	-81.9	417.2	-14.0	227	2661	0.00	2.30	0.00	0.000	4	0.000	0.049	2925	789	3134	0	0	0	0	0	0	28.83	25.03	28.83
2783	-0.77	-81.9	433.9	-13.9	231	2788	0.12	2.30	0.00	0.000	6	0.158	0.050	2944	2200	3134	0	0	0	0	0	0	24.79	25.03	28.83
3097	-0.77	-81.9	472.2	-11.7	242	3102	0.00	2.25	0.00	0.000	4	0.000	0.050	2944	802	3133	0	0	0	0	0	0	28.83	25.03	28.83
3174	-0.77	-81.9	479.7	-12.2	244	3178	0.00	2.30	0.00	0.000	6	0.000	0.050	2936	2205	3134	0	0	0	0	0	0	28.83	25.01	28.83
3204	end dive: TARGET_DEPTH_EXCEEDED
state	3204	begin apogee
3211	-0.22	0.0	486.0	-12.5	245	3287	0.57	0.00	72.53	0.840	6	0.125	0.000	3116	2344	2794	0	0	0	0	0	0	24.58	28.83	23.58
3288	end apogee: CONTROL_FINISHED_OK
state	3288	begin climb
3292	0.77	81.9	489.6	0.0	247	3377	0.95	2.33	75.45	0.807	4	0.076	0.062	3440	3730	2458	0	0	0	0	0	0	24.80	24.73	23.36
3436	0.77	81.9	482.6	7.2	252	3442	0.00	2.30	0.00	0.000	6	0.000	0.045	3451	2324	2455	0	0	0	0	0	0	28.83	25.28	28.83
3767	0.77	81.9	452.6	8.5	263	3772	0.00	2.28	0.00	0.000	4	0.000	0.053	3462	927	2451	0	0	0	0	0	0	28.83	25.34	28.83
3856	0.77	81.9	444.5	8.9	266	3862	0.00	2.28	0.00	0.000	6	0.000	0.054	3462	2316	2450	0	0	0	0	0	0	28.83	25.32	28.83
4187	0.77	81.9	413.8	9.2	277	4192	0.00	2.38	0.00	0.000	4	0.000	0.064	3462	3737	2450	0	0	0	0	0	0	28.83	25.10	28.83
4388	0.77	81.9	392.8	10.8	285	4393	0.08	2.28	0.00	0.000	6	0.167	0.047	3451	2326	2448	0	0	0	0	0	0	25.02	25.38	28.83
4708	0.77	81.9	366.1	8.1	301	4712	0.00	2.25	0.00	0.000	4	0.000	0.054	3460	914	2447	0	0	0	0	0	0	28.83	25.15	28.83
4776	0.77	81.9	360.6	7.9	304	4782	0.00	2.33	0.00	0.000	6	0.000	0.054	3460	2327	2448	0	0	0	0	0	0	28.83	25.14	28.83
5097	0.77	81.9	336.2	7.4	320	5102	0.00	2.35	0.00	0.000	4	0.000	0.065	3460	3729	2447	0	0	0	0	0	0	28.83	24.95	28.83
5336	0.77	81.9	315.8	8.9	332	5342	0.00	2.30	0.00	0.000	6	0.000	0.046	3472	2319	2446	0	0	0	0	0	0	28.83	25.29	28.83
5657	0.77	81.9	291.2	7.7	348	5662	0.00	2.40	0.00	0.000	4	0.000	0.064	3472	3738	2446	0	0	0	0	0	0	28.83	24.89	28.83
5764	0.77	81.9	282.3	9.1	353	5769	0.15	2.33	0.00	0.000	6	0.179	0.046	3448	2317	2445	0	0	0	0	0	0	24.80	25.26	28.83
6066	0.77	81.9	260.1	7.2	368	6072	0.00	2.40	0.00	0.000	4	0.000	0.064	3448	3732	2444	0	0	0	0	0	0	28.83	24.85	28.83
6307	0.77	81.9	240.6	8.6	380	6312	0.00	2.28	0.00	0.000	6	0.000	0.047	3457	2326	2444	0	0	0	0	0	0	28.83	25.24	28.83
6626	0.77	81.9	216.3	7.0	396	6632	0.00	2.40	0.00	0.000	4	0.000	0.063	3457	3737	2444	0	0	0	0	0	0	28.83	24.83	28.83
6827	0.77	81.9	200.2	7.9	406	6832	0.00	2.30	0.00	0.000	6	0.000	0.046	3469	2320	2444	0	0	0	0	0	0	28.83	25.22	28.83
7146	0.77	81.9	177.9	7.1	427	7147	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	2320	2444	0	0	0	0	0	0	28.83	28.83	28.83
7449	0.77	83.8	157.0	6.8	447	7450	0.00	0.00	0.00	0.000	6	0.000	0.000	3469	2320	2444	0	0	0	0	0	0	28.83	28.83	28.83
7747	0.78	97.3	138.9	5.6	467	7767	0.00	2.35	12.32	0.597	4	0.000	0.062	3468	3743	2396	0	0	0	0	0	0	28.83	25.13	24.06
7777	0.78	105.9	137.0	6.1	470	7796	0.10	2.30	9.50	0.574	6	0.158	0.046	3450	2320	2362	0	0	0	0	0	0	25.02	25.41	23.96
8099	0.78	105.9	113.7	7.2	502	8105	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2320	2360	0	0	0	0	0	0	28.83	28.83	28.83
8411	0.78	110.3	92.0	6.6	563	8424	0.00	2.35	5.25	0.477	4	0.000	0.064	3450	3740	2344	0	0	0	0	0	0	28.83	25.28	24.13
8542	0.79	111.6	82.8	6.9	587	8549	0.00	2.22	0.00	0.000	6	0.000	0.046	3459	2322	2342	0	0	0	0	0	0	28.83	25.41	28.83
8853	0.79	132.2	68.3	4.9	648	8880	0.00	2.40	20.52	0.581	4	0.000	0.063	3459	3736	2254	0	0	0	0	0	0	28.83	25.27	24.12
8954	0.79	132.2	62.3	7.5	666	8961	0.00	2.25	0.00	0.000	6	0.000	0.046	3470	2319	2252	0	0	0	0	0	0	28.83	25.48	28.83
9266	0.80	157.5	48.0	4.4	727	9297	0.00	2.35	22.65	0.568	4	0.000	0.063	3471	3746	2149	0	0	0	0	0	0	28.83	25.30	24.10
9529	0.81	161.9	29.8	6.6	777	9542	0.00	2.25	4.55	0.417	6	0.000	0.044	3482	2321	2133	0	0	0	0	0	0	28.83	25.41	24.14
9850	0.81	174.3	13.4	5.7	839	9869	0.00	2.33	12.25	0.522	4	0.000	0.062	3482	3744	2081	0	0	0	0	0	0	28.83	25.37	24.17
10016	end climb: SURFACE_DEPTH_REACHED
state	10016	begin surface coast
10103	end surface coast: CONTROL_FINISHED_OK
state	10103	begin surface