Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 827 * 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 827 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 41 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -1590026.5 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 -1590026.5

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 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 24 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 827 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 190413,024900,4749.596,-12515.226,54,1.9,55,18.7 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 2.11 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -76.8 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 190413,025548,4749.593,-12515.154,16,2.0,21,18.7 MHEAD_RNG_PITCHd_Wd 245.3,120,-26.8,-7.021,-30.00

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.024299 _10V_AH 9.8,85.856

SM_CCo 9997,88.55,0.467,5,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 1.81,8.93,0.17,88.55,0.036,0.074,0.467,126,2205,1570,-9.47,1.13,300.00,0,0,0,0,5,0,25.57,25.94,23.94 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12353.85,180413,232335 MEM 296756

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 50183,899

HUMID 47.95 CAP_FILE_SIZE 99965,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,188596224

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 1 CURRENT 0.115, 93.2,1

_24V_AH 23.4,115.304 GPS 190413,054636,4749.284,-12515.119,63,1.2,64,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 214 112.02 SBE_CT 616 24 346.37

Roll_motor 87 87 178.72 SBE_O2 583 19 259.36

VBD_pump_during_apogee 222 844 4402.64 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 88 466 966.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.93 nil 0 0 0.00

Iridium_during_connect 39 160 149.42 nil 0 0 0.00

Iridium_during_xfer 197 223 1028.73 nil 0 0 0.00

Transponder_ping 0 420 2.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 50 10.79

TT8 2266 19 439.81

LPSleep 5775 2 123.96

TT8_Active 488 19 94.80

TT8_Sampling 1726 39 673.56

TT8_CF8 266 45 119.61

TT8_Kalman 0 0 0.00

Analog_circuits 1253 12 147.37

GPS_charging 0 0 0.00

Compass 1445 15 212.42

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

17 -0.85 -36.8 0.0 0.0 0 69 0.00 0.00 -49.40 0.000 2 0.000 0.000 115 2185 2655 0 0 0 0 0 0 28.83 28.83 28.83

72 -0.87 -67.5 3.3 -3.0 9 99 11.10 2.28 -9.45 0.000 4 0.214 0.063 2909 792 3073 0 0 0 0 0 0 24.52 25.39 26.17

162 -0.87 -67.5 27.4 -24.5 25 168 0.00 2.22 0.00 0.000 6 0.000 0.051 2900 2202 3075 0 0 0 0 0 0 28.83 25.27 28.83

474 -0.87 -67.5 95.7 -18.1 86 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2202 3076 0 0 0 0 0 0 28.83 28.83 28.83

789 -0.87 -67.5 149.8 -16.5 124 797 0.00 2.25 0.00 0.000 4 0.000 0.048 2900 795 3077 0 0 0 0 0 0 28.83 25.15 28.83

918 -0.87 -67.5 171.0 -15.7 137 927 0.00 2.30 0.00 0.000 6 0.000 0.049 2890 2212 3077 0 0 0 0 0 0 28.83 25.14 28.83

1230 -0.87 -67.5 219.8 -15.5 156 1234 0.00 2.28 0.00 0.000 4 0.000 0.048 2890 797 3077 0 0 0 0 0 0 28.83 25.13 28.83

1288 -0.87 -67.5 229.4 -16.0 159 1295 0.15 2.28 0.00 0.000 6 0.168 0.049 2915 2200 3077 0 0 0 0 0 0 24.75 25.11 28.83

1610 -0.87 -67.5 274.0 -14.1 175 1611 0.00 0.00 0.00 0.000 6 0.000 0.000 2915 2200 3077 0 0 0 0 0 0 28.83 28.83 28.83

1909 -0.87 -67.5 316.7 -14.6 190 1914 0.00 2.25 0.00 0.000 4 0.000 0.048 2915 794 3077 0 0 0 0 0 0 28.83 25.08 28.83

1936 -0.87 -67.5 319.7 -14.7 191 1940 0.00 2.30 0.00 0.000 6 0.000 0.050 2907 2204 3077 0 0 0 0 0 0 28.83 25.06 28.83

2238 -0.87 -67.5 366.9 -15.2 206 2244 0.00 2.35 0.00 0.000 4 0.000 0.060 2896 3619 3077 0 0 0 0 0 0 28.83 24.85 28.83

2280 -0.87 -67.5 373.0 -15.2 208 2284 0.00 2.28 0.00 0.000 6 0.000 0.041 2895 2195 3076 0 0 0 0 0 0 28.83 25.32 28.83

2598 -0.87 -67.5 419.1 -15.0 222 2604 0.00 2.25 0.00 0.000 4 0.000 0.049 2896 801 3077 0 0 0 0 0 0 28.83 25.03 28.83

2748 -0.87 -67.5 443.4 -16.1 227 2754 0.12 2.30 0.00 0.000 6 0.177 0.050 2912 2208 3077 0 0 0 0 0 0 24.72 25.03 28.83

3045 end dive: TARGET_DEPTH_EXCEEDED

state 3045 begin apogee

3054 -0.22 0.0 482.4 -13.7 237 3118 0.68 0.00 60.62 0.845 6 0.132 0.000 3120 2337 2794 0 0 0 0 0 0 24.33 28.83 23.59

3119 end apogee: CONTROL_FINISHED_OK

state 3119 begin climb

3122 0.87 67.5 486.2 0.0 239 3191 0.98 2.40 62.67 0.804 4 0.068 0.062 3469 3729 2517 0 0 0 0 0 0 24.89 24.77 23.39

3271 0.87 67.5 476.9 8.0 245 3276 0.00 2.28 0.00 0.000 6 0.000 0.046 3480 2324 2512 0 0 0 0 0 0 28.83 25.37 28.83

3599 0.87 67.5 450.4 8.8 256 3605 0.00 2.35 0.00 0.000 4 0.000 0.063 3480 3722 2509 0 0 0 0 0 0 28.83 25.27 28.83

3840 0.87 67.5 425.4 9.8 264 3845 0.00 2.25 0.00 0.000 6 0.000 0.046 3492 2325 2508 0 0 0 0 0 0 28.83 25.45 28.83

4169 0.87 67.5 401.5 7.4 275 4175 0.00 2.35 0.00 0.000 4 0.000 0.063 3492 3719 2507 0 0 0 0 0 0 28.83 25.09 28.83

4409 0.87 67.5 380.6 9.7 287 4415 0.00 2.28 0.00 0.000 6 0.000 0.046 3503 2324 2506 0 0 0 0 0 0 28.83 25.35 28.83

4731 0.87 72.1 357.4 6.4 303 4735 0.00 2.28 0.00 0.000 4 0.000 0.053 3514 924 2506 0 0 0 0 0 0 28.83 25.13 28.83

4778 0.87 79.2 354.9 6.1 305 4793 0.15 2.28 9.70 0.692 6 0.177 0.053 3479 2310 2471 0 0 0 0 0 0 24.75 25.13 24.03

5105 0.87 79.2 330.8 8.0 322 5109 0.00 2.33 0.00 0.000 4 0.000 0.065 3479 3734 2470 0 0 0 0 0 0 28.83 25.08 28.83

5339 0.87 79.2 308.9 9.9 333 5343 0.00 2.30 0.00 0.000 6 0.000 0.046 3488 2324 2467 0 0 0 0 0 0 28.83 25.33 28.83

5642 0.87 79.2 282.0 8.3 348 5647 0.00 2.38 0.00 0.000 4 0.000 0.063 3489 3734 2468 0 0 0 0 0 0 28.83 24.92 28.83

5881 0.87 79.2 260.6 9.1 360 5887 0.00 2.30 0.00 0.000 6 0.000 0.046 3500 2324 2467 0 0 0 0 0 0 28.83 25.26 28.83

6203 0.87 79.2 234.5 7.9 376 6207 0.00 2.33 0.00 0.000 4 0.000 0.063 3500 3736 2467 0 0 0 0 0 0 28.83 24.85 28.83

6442 0.87 79.2 213.9 8.6 388 6448 0.10 2.28 0.00 0.000 6 0.167 0.046 3483 2327 2466 0 0 0 0 0 0 24.77 25.24 28.83

6752 0.87 80.6 192.7 6.8 405 6760 0.00 2.38 0.00 0.000 4 0.000 0.063 3482 3734 2466 0 0 0 0 0 0 28.83 24.81 28.83

6882 0.87 80.6 183.1 7.1 418 6890 0.00 2.30 0.00 0.000 6 0.000 0.046 3492 2320 2466 0 0 0 0 0 0 28.83 25.22 28.83

7191 0.87 80.6 161.9 7.3 439 7200 0.00 2.38 0.00 0.000 4 0.000 0.063 3492 3732 2466 0 0 0 0 0 0 28.83 24.78 28.83

7252 0.87 80.6 157.4 7.6 445 7260 0.00 2.28 0.00 0.000 6 0.000 0.046 3503 2328 2466 0 0 0 0 0 0 28.83 25.20 28.83

7562 0.87 86.6 136.3 6.2 466 7575 0.00 0.00 7.40 0.549 6 0.000 0.000 3503 2328 2442 0 0 0 0 0 0 28.83 28.83 24.08

7878 0.88 96.2 115.6 5.8 497 7897 0.00 2.28 10.80 0.579 4 0.000 0.053 3514 912 2400 0 0 0 0 0 0 28.83 25.32 24.07

7932 0.88 105.7 112.5 5.8 506 7952 0.15 2.28 10.18 0.567 6 0.171 0.054 3478 2334 2362 0 0 0 0 0 0 25.06 25.37 24.00

8261 0.88 112.6 92.2 6.1 569 8275 0.00 2.38 7.32 0.524 4 0.000 0.064 3478 3744 2334 0 0 0 0 0 0 28.83 25.34 24.10

8508 0.88 113.6 75.0 6.9 616 8516 0.00 2.22 0.00 0.000 6 0.000 0.045 3487 2322 2332 0 0 0 0 0 0 28.83 25.39 28.83

8825 0.90 142.9 64.7 3.2 677 8861 0.00 2.28 27.27 0.586 4 0.000 0.052 3498 929 2209 0 0 0 0 0 0 28.83 25.33 24.07

9092 0.90 145.1 48.9 6.7 728 9099 0.00 2.22 0.00 0.000 6 0.000 0.052 3498 2334 2206 0 0 0 0 0 0 28.83 25.25 28.83

9407 0.91 173.6 32.1 3.3 789 9443 0.00 2.35 26.80 0.562 4 0.000 0.063 3498 3734 2084 0 0 0 0 0 0 28.83 25.29 24.08

9587 0.91 173.6 19.5 8.1 823 9594 0.00 2.22 0.00 0.000 6 0.000 0.045 3510 2324 2081 0 0 0 0 0 0 28.83 25.42 28.83

9878 end climb: SURFACE_DEPTH_REACHED

state 9878 begin surface coast

9975 end surface coast: CONTROL_FINISHED_OK

state 9976 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	827	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	41	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-1590026.5	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	190413,024900,4749.596,-12515.226,54,1.9,55,18.7	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	2.11	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-76.8	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	190413,025548,4749.593,-12515.154,16,2.0,21,18.7	MHEAD_RNG_PITCHd_Wd	245.3,120,-26.8,-7.021,-30.00
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.024299	_10V_AH	9.8,85.856
SM_CCo	9997,88.55,0.467,5,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	1.81,8.93,0.17,88.55,0.036,0.074,0.467,126,2205,1570,-9.47,1.13,300.00,0,0,0,0,5,0,25.57,25.94,23.94	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12353.85,180413,232335	MEM	296756
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	50183,899
HUMID	47.95	CAP_FILE_SIZE	99965,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,188596224
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	1	CURRENT	0.115, 93.2,1
_24V_AH	23.4,115.304	GPS	190413,054636,4749.284,-12515.119,63,1.2,64,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	214	112.02	SBE_CT	616	24	346.37
Roll_motor	87	87	178.72	SBE_O2	583	19	259.36
VBD_pump_during_apogee	222	844	4402.64	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	88	466	966.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.93	nil	0	0	0.00
Iridium_during_connect	39	160	149.42	nil	0	0	0.00
Iridium_during_xfer	197	223	1028.73	nil	0	0	0.00
Transponder_ping	0	420	2.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	50	10.79
TT8	2266	19	439.81
LPSleep	5775	2	123.96
TT8_Active	488	19	94.80
TT8_Sampling	1726	39	673.56
TT8_CF8	266	45	119.61
TT8_Kalman	0	0	0.00
Analog_circuits	1253	12	147.37
GPS_charging	0	0	0.00
Compass	1445	15	212.42
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
17	-0.85	-36.8	0.0	0.0	0	69	0.00	0.00	-49.40	0.000	2	0.000	0.000	115	2185	2655	0	0	0	0	0	0	28.83	28.83	28.83
72	-0.87	-67.5	3.3	-3.0	9	99	11.10	2.28	-9.45	0.000	4	0.214	0.063	2909	792	3073	0	0	0	0	0	0	24.52	25.39	26.17
162	-0.87	-67.5	27.4	-24.5	25	168	0.00	2.22	0.00	0.000	6	0.000	0.051	2900	2202	3075	0	0	0	0	0	0	28.83	25.27	28.83
474	-0.87	-67.5	95.7	-18.1	86	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2202	3076	0	0	0	0	0	0	28.83	28.83	28.83
789	-0.87	-67.5	149.8	-16.5	124	797	0.00	2.25	0.00	0.000	4	0.000	0.048	2900	795	3077	0	0	0	0	0	0	28.83	25.15	28.83
918	-0.87	-67.5	171.0	-15.7	137	927	0.00	2.30	0.00	0.000	6	0.000	0.049	2890	2212	3077	0	0	0	0	0	0	28.83	25.14	28.83
1230	-0.87	-67.5	219.8	-15.5	156	1234	0.00	2.28	0.00	0.000	4	0.000	0.048	2890	797	3077	0	0	0	0	0	0	28.83	25.13	28.83
1288	-0.87	-67.5	229.4	-16.0	159	1295	0.15	2.28	0.00	0.000	6	0.168	0.049	2915	2200	3077	0	0	0	0	0	0	24.75	25.11	28.83
1610	-0.87	-67.5	274.0	-14.1	175	1611	0.00	0.00	0.00	0.000	6	0.000	0.000	2915	2200	3077	0	0	0	0	0	0	28.83	28.83	28.83
1909	-0.87	-67.5	316.7	-14.6	190	1914	0.00	2.25	0.00	0.000	4	0.000	0.048	2915	794	3077	0	0	0	0	0	0	28.83	25.08	28.83
1936	-0.87	-67.5	319.7	-14.7	191	1940	0.00	2.30	0.00	0.000	6	0.000	0.050	2907	2204	3077	0	0	0	0	0	0	28.83	25.06	28.83
2238	-0.87	-67.5	366.9	-15.2	206	2244	0.00	2.35	0.00	0.000	4	0.000	0.060	2896	3619	3077	0	0	0	0	0	0	28.83	24.85	28.83
2280	-0.87	-67.5	373.0	-15.2	208	2284	0.00	2.28	0.00	0.000	6	0.000	0.041	2895	2195	3076	0	0	0	0	0	0	28.83	25.32	28.83
2598	-0.87	-67.5	419.1	-15.0	222	2604	0.00	2.25	0.00	0.000	4	0.000	0.049	2896	801	3077	0	0	0	0	0	0	28.83	25.03	28.83
2748	-0.87	-67.5	443.4	-16.1	227	2754	0.12	2.30	0.00	0.000	6	0.177	0.050	2912	2208	3077	0	0	0	0	0	0	24.72	25.03	28.83
3045	end dive: TARGET_DEPTH_EXCEEDED
state	3045	begin apogee
3054	-0.22	0.0	482.4	-13.7	237	3118	0.68	0.00	60.62	0.845	6	0.132	0.000	3120	2337	2794	0	0	0	0	0	0	24.33	28.83	23.59
3119	end apogee: CONTROL_FINISHED_OK
state	3119	begin climb
3122	0.87	67.5	486.2	0.0	239	3191	0.98	2.40	62.67	0.804	4	0.068	0.062	3469	3729	2517	0	0	0	0	0	0	24.89	24.77	23.39
3271	0.87	67.5	476.9	8.0	245	3276	0.00	2.28	0.00	0.000	6	0.000	0.046	3480	2324	2512	0	0	0	0	0	0	28.83	25.37	28.83
3599	0.87	67.5	450.4	8.8	256	3605	0.00	2.35	0.00	0.000	4	0.000	0.063	3480	3722	2509	0	0	0	0	0	0	28.83	25.27	28.83
3840	0.87	67.5	425.4	9.8	264	3845	0.00	2.25	0.00	0.000	6	0.000	0.046	3492	2325	2508	0	0	0	0	0	0	28.83	25.45	28.83
4169	0.87	67.5	401.5	7.4	275	4175	0.00	2.35	0.00	0.000	4	0.000	0.063	3492	3719	2507	0	0	0	0	0	0	28.83	25.09	28.83
4409	0.87	67.5	380.6	9.7	287	4415	0.00	2.28	0.00	0.000	6	0.000	0.046	3503	2324	2506	0	0	0	0	0	0	28.83	25.35	28.83
4731	0.87	72.1	357.4	6.4	303	4735	0.00	2.28	0.00	0.000	4	0.000	0.053	3514	924	2506	0	0	0	0	0	0	28.83	25.13	28.83
4778	0.87	79.2	354.9	6.1	305	4793	0.15	2.28	9.70	0.692	6	0.177	0.053	3479	2310	2471	0	0	0	0	0	0	24.75	25.13	24.03
5105	0.87	79.2	330.8	8.0	322	5109	0.00	2.33	0.00	0.000	4	0.000	0.065	3479	3734	2470	0	0	0	0	0	0	28.83	25.08	28.83
5339	0.87	79.2	308.9	9.9	333	5343	0.00	2.30	0.00	0.000	6	0.000	0.046	3488	2324	2467	0	0	0	0	0	0	28.83	25.33	28.83
5642	0.87	79.2	282.0	8.3	348	5647	0.00	2.38	0.00	0.000	4	0.000	0.063	3489	3734	2468	0	0	0	0	0	0	28.83	24.92	28.83
5881	0.87	79.2	260.6	9.1	360	5887	0.00	2.30	0.00	0.000	6	0.000	0.046	3500	2324	2467	0	0	0	0	0	0	28.83	25.26	28.83
6203	0.87	79.2	234.5	7.9	376	6207	0.00	2.33	0.00	0.000	4	0.000	0.063	3500	3736	2467	0	0	0	0	0	0	28.83	24.85	28.83
6442	0.87	79.2	213.9	8.6	388	6448	0.10	2.28	0.00	0.000	6	0.167	0.046	3483	2327	2466	0	0	0	0	0	0	24.77	25.24	28.83
6752	0.87	80.6	192.7	6.8	405	6760	0.00	2.38	0.00	0.000	4	0.000	0.063	3482	3734	2466	0	0	0	0	0	0	28.83	24.81	28.83
6882	0.87	80.6	183.1	7.1	418	6890	0.00	2.30	0.00	0.000	6	0.000	0.046	3492	2320	2466	0	0	0	0	0	0	28.83	25.22	28.83
7191	0.87	80.6	161.9	7.3	439	7200	0.00	2.38	0.00	0.000	4	0.000	0.063	3492	3732	2466	0	0	0	0	0	0	28.83	24.78	28.83
7252	0.87	80.6	157.4	7.6	445	7260	0.00	2.28	0.00	0.000	6	0.000	0.046	3503	2328	2466	0	0	0	0	0	0	28.83	25.20	28.83
7562	0.87	86.6	136.3	6.2	466	7575	0.00	0.00	7.40	0.549	6	0.000	0.000	3503	2328	2442	0	0	0	0	0	0	28.83	28.83	24.08
7878	0.88	96.2	115.6	5.8	497	7897	0.00	2.28	10.80	0.579	4	0.000	0.053	3514	912	2400	0	0	0	0	0	0	28.83	25.32	24.07
7932	0.88	105.7	112.5	5.8	506	7952	0.15	2.28	10.18	0.567	6	0.171	0.054	3478	2334	2362	0	0	0	0	0	0	25.06	25.37	24.00
8261	0.88	112.6	92.2	6.1	569	8275	0.00	2.38	7.32	0.524	4	0.000	0.064	3478	3744	2334	0	0	0	0	0	0	28.83	25.34	24.10
8508	0.88	113.6	75.0	6.9	616	8516	0.00	2.22	0.00	0.000	6	0.000	0.045	3487	2322	2332	0	0	0	0	0	0	28.83	25.39	28.83
8825	0.90	142.9	64.7	3.2	677	8861	0.00	2.28	27.27	0.586	4	0.000	0.052	3498	929	2209	0	0	0	0	0	0	28.83	25.33	24.07
9092	0.90	145.1	48.9	6.7	728	9099	0.00	2.22	0.00	0.000	6	0.000	0.052	3498	2334	2206	0	0	0	0	0	0	28.83	25.25	28.83
9407	0.91	173.6	32.1	3.3	789	9443	0.00	2.35	26.80	0.562	4	0.000	0.063	3498	3734	2084	0	0	0	0	0	0	28.83	25.29	24.08
9587	0.91	173.6	19.5	8.1	823	9594	0.00	2.22	0.00	0.000	6	0.000	0.045	3510	2324	2081	0	0	0	0	0	0	28.83	25.42	28.83
9878	end climb: SURFACE_DEPTH_REACHED
state	9878	begin surface coast
9975	end surface coast: CONTROL_FINISHED_OK
state	9976	begin surface