Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 829 * 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 829 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 45 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 -1590029 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 -1590029

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 45 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 26 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 829 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 190413,084400,4749.151,-12515.541,69,1.0,70,18.7 TGT_NAME PARKING

_CALLS 2 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.07 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -78.3 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 190413,085243,4749.075,-12515.376,15,1.0,15,18.7 MHEAD_RNG_PITCHd_Wd 305.4,984,-18.9,-7.021,-22.96

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 3.3,1.024054 _10V_AH 9.8,85.973

SM_CCo 9724,15.12,0.282,1,0,1571,300.00 FG_AHR_24Vo 0.000

SM_GC 1.83,8.80,2.50,15.12,0.042,0.045,0.282,114,2194,1571,-9.47,0.96,300.00,0,0,0,0,1,0,25.71,25.43,24.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,190413,080800 MEM 296776

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 46846,865

HUMID 48.70 CAP_FILE_SIZE 99208,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,188485632

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.097, 98.3,1

_24V_AH 23.4,115.473 GPS 190413,113759,4749.750,-12515.721,87,1.7,93,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 216 112.46 SBE_CT 591 24 332.22

Roll_motor 92 81 175.23 SBE_O2 559 19 248.94

VBD_pump_during_apogee 350 823 6752.12 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 15 282 99.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 134.41 nil 0 0 0.00

Iridium_during_connect 87 160 328.13 nil 0 0 0.00

Iridium_during_xfer 182 223 953.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.15

TT8 2155 19 418.33

LPSleep 5640 2 121.06

TT8_Active 518 19 100.60

TT8_Sampling 1688 39 658.60

TT8_CF8 275 45 123.51

TT8_Kalman 0 0 0.00

Analog_circuits 1260 12 148.20

GPS_charging 0 0 0.00

Compass 1349 15 198.44

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

17 -0.62 -73.3 0.0 0.0 0 69 0.00 0.00 -49.75 0.000 2 0.000 0.000 104 2196 2671 0 0 0 0 0 0 28.83 28.83 28.83

73 -0.64 -116.6 3.5 -4.1 9 105 11.52 2.17 -12.57 0.000 4 0.216 0.060 2984 801 3271 0 0 0 0 0 0 24.52 25.38 26.19

191 -0.64 -116.6 30.2 -19.5 30 198 0.00 2.20 0.00 0.000 6 0.000 0.050 2977 2199 3273 0 0 0 0 0 0 28.83 25.25 28.83

504 -0.64 -116.6 86.2 -15.5 91 510 0.00 2.20 0.00 0.000 4 0.000 0.049 2977 801 3275 0 0 0 0 0 0 28.83 25.16 28.83

579 -0.64 -116.6 98.0 -15.4 105 585 0.00 2.22 0.00 0.000 6 0.000 0.049 2967 2208 3275 0 0 0 0 0 0 28.83 25.15 28.83

890 -0.64 -116.6 144.3 -14.3 144 899 0.00 2.30 0.00 0.000 4 0.000 0.060 2956 3604 3275 0 0 0 0 0 0 28.83 24.93 28.83

949 -0.64 -116.6 153.4 -14.9 150 959 0.12 2.25 0.00 0.000 6 0.147 0.041 2986 2197 3275 0 0 0 0 0 0 25.08 25.34 28.83

1259 -0.64 -116.6 190.7 -11.7 171 1268 0.00 2.25 0.00 0.000 4 0.000 0.049 2987 804 3275 0 0 0 0 0 0 28.83 25.08 28.83

1300 -0.64 -116.6 195.6 -12.0 175 1308 0.00 2.25 0.00 0.000 6 0.000 0.050 2979 2197 3275 0 0 0 0 0 0 28.83 25.08 28.83

1619 -0.64 -116.6 233.1 -11.9 192 1620 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2197 3275 0 0 0 0 0 0 28.83 28.83 28.83

1919 -0.64 -116.6 270.1 -12.6 207 1920 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2197 3275 0 0 0 0 0 0 28.83 28.83 28.83

2220 -0.64 -116.6 308.5 -12.7 222 2222 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2197 3275 0 0 0 0 0 0 28.83 28.83 28.83

2520 -0.64 -116.6 345.6 -11.7 237 2525 0.00 2.25 0.00 0.000 4 0.000 0.050 2979 804 3275 0 0 0 0 0 0 28.83 25.01 28.83

2600 -0.64 -116.6 355.1 -12.0 241 2605 0.00 2.28 0.00 0.000 6 0.000 0.050 2969 2200 3275 0 0 0 0 0 0 28.83 25.00 28.83

2921 -0.64 -116.6 395.4 -12.9 257 2925 0.00 2.20 0.00 0.000 4 0.000 0.050 2969 805 3275 0 0 0 0 0 0 28.83 24.99 28.83

2987 -0.64 -116.6 402.9 -12.9 260 2992 0.12 2.30 0.00 0.000 6 0.153 0.050 2989 2208 3275 0 0 0 0 0 0 24.78 24.99 28.83

3300 -0.64 -116.6 434.5 -9.3 271 3306 0.00 2.35 0.00 0.000 4 0.000 0.063 2980 3608 3275 0 0 0 0 0 0 28.83 24.74 28.83

3331 -0.64 -116.6 437.8 -9.8 272 3337 0.00 2.25 0.00 0.000 6 0.000 0.044 2980 2210 3274 0 0 0 0 0 0 28.83 25.22 28.83

3568 end dive: TARGET_DEPTH_EXCEEDED

state 3568 begin apogee

3575 -0.22 0.0 464.6 -10.8 280 3679 0.43 0.00 101.07 0.824 6 0.115 0.000 3118 2339 2794 0 0 0 0 0 0 24.94 28.83 23.49

3680 end apogee: CONTROL_FINISHED_OK

state 3680 begin climb

3685 0.64 116.6 468.5 0.0 283 3801 0.80 2.40 105.22 0.796 4 0.077 0.063 3398 3722 2316 0 0 0 0 0 0 24.74 24.66 23.37

3830 0.64 116.6 460.4 7.4 288 3836 0.00 2.30 0.00 0.000 6 0.000 0.044 3408 2325 2314 0 0 0 0 0 0 28.83 25.11 28.83

4160 0.64 116.6 428.9 9.4 299 4167 0.00 2.38 0.00 0.000 4 0.000 0.063 3408 3732 2308 0 0 0 0 0 0 28.83 25.25 28.83

4330 0.64 116.6 412.1 11.2 304 4340 0.00 2.28 0.00 0.000 6 0.000 0.045 3419 2324 2307 0 0 0 0 0 0 28.83 25.45 28.83

4650 0.64 116.6 377.4 10.2 319 4656 0.00 2.35 0.00 0.000 4 0.000 0.064 3420 3718 2307 0 0 0 0 0 0 28.83 25.08 28.83

4852 0.64 116.6 355.4 10.6 329 4857 0.00 2.25 0.00 0.000 6 0.000 0.046 3430 2323 2306 0 0 0 0 0 0 28.83 25.37 28.83

5172 0.64 116.6 327.2 8.5 345 5177 0.00 2.33 0.00 0.000 4 0.000 0.065 3430 3727 2305 0 0 0 0 0 0 28.83 24.98 28.83

5240 0.64 116.6 320.3 9.6 348 5247 0.15 2.30 0.00 0.000 6 0.161 0.047 3405 2320 2305 0 0 0 0 0 0 24.95 25.32 28.83

5562 0.64 116.6 295.7 7.7 364 5566 0.00 2.28 0.00 0.000 4 0.000 0.054 3413 925 2304 0 0 0 0 0 0 28.83 25.09 28.83

5608 0.64 116.6 292.7 7.7 366 5613 0.00 2.28 0.00 0.000 6 0.000 0.053 3413 2312 2304 0 0 0 0 0 0 28.83 25.10 28.83

5911 0.64 116.6 267.4 8.2 381 5916 0.00 2.40 0.00 0.000 4 0.000 0.065 3413 3737 2304 0 0 0 0 0 0 28.83 24.89 28.83

5960 0.64 116.6 263.8 8.4 383 5969 0.00 2.33 0.00 0.000 6 0.000 0.046 3424 2316 2303 0 0 0 0 0 0 28.83 25.27 28.83

6270 0.64 116.6 236.5 8.3 399 6276 0.00 2.40 0.00 0.000 4 0.000 0.064 3424 3736 2303 0 0 0 0 0 0 28.83 24.85 28.83

6378 0.64 116.6 227.0 9.7 404 6383 0.12 2.30 0.00 0.000 6 0.164 0.046 3405 2324 2303 0 0 0 0 0 0 24.94 25.25 28.83

6682 0.64 122.5 204.4 6.6 419 6691 0.00 2.42 4.05 0.457 4 0.000 0.064 3405 3747 2294 0 0 0 0 0 0 28.83 25.17 24.08

6750 0.64 122.5 198.8 7.7 422 6759 0.00 2.33 0.00 0.000 6 0.000 0.046 3414 2319 2293 0 0 0 0 0 0 28.83 25.39 28.83

7062 0.64 122.5 175.1 8.0 443 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 3414 2319 2293 0 0 0 0 0 0 28.83 28.83 28.83

7360 0.64 122.5 151.8 7.7 463 7369 0.00 2.38 0.00 0.000 4 0.000 0.063 3414 3732 2293 0 0 0 0 0 0 28.83 24.83 28.83

7520 0.64 122.5 137.3 9.1 479 7529 0.00 2.30 0.00 0.000 6 0.000 0.045 3425 2321 2293 0 0 0 0 0 0 28.83 25.24 28.83

7833 0.64 134.6 113.9 6.2 510 7853 0.00 2.42 12.43 0.581 4 0.000 0.063 3424 3744 2244 0 0 0 0 0 0 28.83 25.13 24.09

8035 0.64 134.6 98.0 7.5 548 8043 0.12 2.28 0.00 0.000 6 0.162 0.045 3405 2319 2241 0 0 0 0 0 0 25.10 25.39 28.83

8350 0.65 156.6 80.5 5.5 609 8375 0.00 2.33 20.12 0.586 4 0.000 0.052 3414 912 2154 0 0 0 0 0 0 28.83 25.28 24.09

8514 0.67 189.7 71.3 4.8 640 8551 0.00 2.25 28.92 0.587 6 0.000 0.053 3414 2334 2018 0 0 0 0 0 0 28.83 25.29 23.95

8860 0.68 220.3 51.5 4.9 706 8892 0.00 2.38 26.17 0.570 4 0.000 0.063 3414 3740 1893 0 0 0 0 0 0 28.83 25.27 24.04

8936 0.68 220.3 46.5 7.6 719 8943 0.00 2.22 0.00 0.000 6 0.000 0.045 3424 2324 1891 0 0 0 0 0 0 28.83 25.47 28.83

9251 0.69 243.2 25.6 5.5 780 9276 0.00 0.00 19.23 0.547 6 0.000 0.000 3424 2321 1803 0 0 0 0 0 0 28.83 28.83 24.14

9582 0.70 281.8 9.5 4.4 844 9622 0.00 2.33 33.00 0.545 4 0.000 0.063 3424 3734 1643 0 0 0 0 0 0 28.83 25.27 24.09

9690 end climb: SURFACE_DEPTH_REACHED

state 9690 begin surface coast

9702 end surface coast: CONTROL_FINISHED_OK

state 9702 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	829	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	45	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	-1590029	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	190413,084400,4749.151,-12515.541,69,1.0,70,18.7	TGT_NAME	PARKING
_CALLS	2	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.07	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-78.3	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	190413,085243,4749.075,-12515.376,15,1.0,15,18.7	MHEAD_RNG_PITCHd_Wd	305.4,984,-18.9,-7.021,-22.96
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	3.3,1.024054	_10V_AH	9.8,85.973
SM_CCo	9724,15.12,0.282,1,0,1571,300.00	FG_AHR_24Vo	0.000
SM_GC	1.83,8.80,2.50,15.12,0.042,0.045,0.282,114,2194,1571,-9.47,0.96,300.00,0,0,0,0,1,0,25.71,25.43,24.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,190413,080800	MEM	296776
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	46846,865
HUMID	48.70	CAP_FILE_SIZE	99208,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,188485632
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.097, 98.3,1
_24V_AH	23.4,115.473	GPS	190413,113759,4749.750,-12515.721,87,1.7,93,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	216	112.46	SBE_CT	591	24	332.22
Roll_motor	92	81	175.23	SBE_O2	559	19	248.94
VBD_pump_during_apogee	350	823	6752.12	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	15	282	99.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	134.41	nil	0	0	0.00
Iridium_during_connect	87	160	328.13	nil	0	0	0.00
Iridium_during_xfer	182	223	953.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.15
TT8	2155	19	418.33
LPSleep	5640	2	121.06
TT8_Active	518	19	100.60
TT8_Sampling	1688	39	658.60
TT8_CF8	275	45	123.51
TT8_Kalman	0	0	0.00
Analog_circuits	1260	12	148.20
GPS_charging	0	0	0.00
Compass	1349	15	198.44
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
17	-0.62	-73.3	0.0	0.0	0	69	0.00	0.00	-49.75	0.000	2	0.000	0.000	104	2196	2671	0	0	0	0	0	0	28.83	28.83	28.83
73	-0.64	-116.6	3.5	-4.1	9	105	11.52	2.17	-12.57	0.000	4	0.216	0.060	2984	801	3271	0	0	0	0	0	0	24.52	25.38	26.19
191	-0.64	-116.6	30.2	-19.5	30	198	0.00	2.20	0.00	0.000	6	0.000	0.050	2977	2199	3273	0	0	0	0	0	0	28.83	25.25	28.83
504	-0.64	-116.6	86.2	-15.5	91	510	0.00	2.20	0.00	0.000	4	0.000	0.049	2977	801	3275	0	0	0	0	0	0	28.83	25.16	28.83
579	-0.64	-116.6	98.0	-15.4	105	585	0.00	2.22	0.00	0.000	6	0.000	0.049	2967	2208	3275	0	0	0	0	0	0	28.83	25.15	28.83
890	-0.64	-116.6	144.3	-14.3	144	899	0.00	2.30	0.00	0.000	4	0.000	0.060	2956	3604	3275	0	0	0	0	0	0	28.83	24.93	28.83
949	-0.64	-116.6	153.4	-14.9	150	959	0.12	2.25	0.00	0.000	6	0.147	0.041	2986	2197	3275	0	0	0	0	0	0	25.08	25.34	28.83
1259	-0.64	-116.6	190.7	-11.7	171	1268	0.00	2.25	0.00	0.000	4	0.000	0.049	2987	804	3275	0	0	0	0	0	0	28.83	25.08	28.83
1300	-0.64	-116.6	195.6	-12.0	175	1308	0.00	2.25	0.00	0.000	6	0.000	0.050	2979	2197	3275	0	0	0	0	0	0	28.83	25.08	28.83
1619	-0.64	-116.6	233.1	-11.9	192	1620	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2197	3275	0	0	0	0	0	0	28.83	28.83	28.83
1919	-0.64	-116.6	270.1	-12.6	207	1920	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2197	3275	0	0	0	0	0	0	28.83	28.83	28.83
2220	-0.64	-116.6	308.5	-12.7	222	2222	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2197	3275	0	0	0	0	0	0	28.83	28.83	28.83
2520	-0.64	-116.6	345.6	-11.7	237	2525	0.00	2.25	0.00	0.000	4	0.000	0.050	2979	804	3275	0	0	0	0	0	0	28.83	25.01	28.83
2600	-0.64	-116.6	355.1	-12.0	241	2605	0.00	2.28	0.00	0.000	6	0.000	0.050	2969	2200	3275	0	0	0	0	0	0	28.83	25.00	28.83
2921	-0.64	-116.6	395.4	-12.9	257	2925	0.00	2.20	0.00	0.000	4	0.000	0.050	2969	805	3275	0	0	0	0	0	0	28.83	24.99	28.83
2987	-0.64	-116.6	402.9	-12.9	260	2992	0.12	2.30	0.00	0.000	6	0.153	0.050	2989	2208	3275	0	0	0	0	0	0	24.78	24.99	28.83
3300	-0.64	-116.6	434.5	-9.3	271	3306	0.00	2.35	0.00	0.000	4	0.000	0.063	2980	3608	3275	0	0	0	0	0	0	28.83	24.74	28.83
3331	-0.64	-116.6	437.8	-9.8	272	3337	0.00	2.25	0.00	0.000	6	0.000	0.044	2980	2210	3274	0	0	0	0	0	0	28.83	25.22	28.83
3568	end dive: TARGET_DEPTH_EXCEEDED
state	3568	begin apogee
3575	-0.22	0.0	464.6	-10.8	280	3679	0.43	0.00	101.07	0.824	6	0.115	0.000	3118	2339	2794	0	0	0	0	0	0	24.94	28.83	23.49
3680	end apogee: CONTROL_FINISHED_OK
state	3680	begin climb
3685	0.64	116.6	468.5	0.0	283	3801	0.80	2.40	105.22	0.796	4	0.077	0.063	3398	3722	2316	0	0	0	0	0	0	24.74	24.66	23.37
3830	0.64	116.6	460.4	7.4	288	3836	0.00	2.30	0.00	0.000	6	0.000	0.044	3408	2325	2314	0	0	0	0	0	0	28.83	25.11	28.83
4160	0.64	116.6	428.9	9.4	299	4167	0.00	2.38	0.00	0.000	4	0.000	0.063	3408	3732	2308	0	0	0	0	0	0	28.83	25.25	28.83
4330	0.64	116.6	412.1	11.2	304	4340	0.00	2.28	0.00	0.000	6	0.000	0.045	3419	2324	2307	0	0	0	0	0	0	28.83	25.45	28.83
4650	0.64	116.6	377.4	10.2	319	4656	0.00	2.35	0.00	0.000	4	0.000	0.064	3420	3718	2307	0	0	0	0	0	0	28.83	25.08	28.83
4852	0.64	116.6	355.4	10.6	329	4857	0.00	2.25	0.00	0.000	6	0.000	0.046	3430	2323	2306	0	0	0	0	0	0	28.83	25.37	28.83
5172	0.64	116.6	327.2	8.5	345	5177	0.00	2.33	0.00	0.000	4	0.000	0.065	3430	3727	2305	0	0	0	0	0	0	28.83	24.98	28.83
5240	0.64	116.6	320.3	9.6	348	5247	0.15	2.30	0.00	0.000	6	0.161	0.047	3405	2320	2305	0	0	0	0	0	0	24.95	25.32	28.83
5562	0.64	116.6	295.7	7.7	364	5566	0.00	2.28	0.00	0.000	4	0.000	0.054	3413	925	2304	0	0	0	0	0	0	28.83	25.09	28.83
5608	0.64	116.6	292.7	7.7	366	5613	0.00	2.28	0.00	0.000	6	0.000	0.053	3413	2312	2304	0	0	0	0	0	0	28.83	25.10	28.83
5911	0.64	116.6	267.4	8.2	381	5916	0.00	2.40	0.00	0.000	4	0.000	0.065	3413	3737	2304	0	0	0	0	0	0	28.83	24.89	28.83
5960	0.64	116.6	263.8	8.4	383	5969	0.00	2.33	0.00	0.000	6	0.000	0.046	3424	2316	2303	0	0	0	0	0	0	28.83	25.27	28.83
6270	0.64	116.6	236.5	8.3	399	6276	0.00	2.40	0.00	0.000	4	0.000	0.064	3424	3736	2303	0	0	0	0	0	0	28.83	24.85	28.83
6378	0.64	116.6	227.0	9.7	404	6383	0.12	2.30	0.00	0.000	6	0.164	0.046	3405	2324	2303	0	0	0	0	0	0	24.94	25.25	28.83
6682	0.64	122.5	204.4	6.6	419	6691	0.00	2.42	4.05	0.457	4	0.000	0.064	3405	3747	2294	0	0	0	0	0	0	28.83	25.17	24.08
6750	0.64	122.5	198.8	7.7	422	6759	0.00	2.33	0.00	0.000	6	0.000	0.046	3414	2319	2293	0	0	0	0	0	0	28.83	25.39	28.83
7062	0.64	122.5	175.1	8.0	443	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	3414	2319	2293	0	0	0	0	0	0	28.83	28.83	28.83
7360	0.64	122.5	151.8	7.7	463	7369	0.00	2.38	0.00	0.000	4	0.000	0.063	3414	3732	2293	0	0	0	0	0	0	28.83	24.83	28.83
7520	0.64	122.5	137.3	9.1	479	7529	0.00	2.30	0.00	0.000	6	0.000	0.045	3425	2321	2293	0	0	0	0	0	0	28.83	25.24	28.83
7833	0.64	134.6	113.9	6.2	510	7853	0.00	2.42	12.43	0.581	4	0.000	0.063	3424	3744	2244	0	0	0	0	0	0	28.83	25.13	24.09
8035	0.64	134.6	98.0	7.5	548	8043	0.12	2.28	0.00	0.000	6	0.162	0.045	3405	2319	2241	0	0	0	0	0	0	25.10	25.39	28.83
8350	0.65	156.6	80.5	5.5	609	8375	0.00	2.33	20.12	0.586	4	0.000	0.052	3414	912	2154	0	0	0	0	0	0	28.83	25.28	24.09
8514	0.67	189.7	71.3	4.8	640	8551	0.00	2.25	28.92	0.587	6	0.000	0.053	3414	2334	2018	0	0	0	0	0	0	28.83	25.29	23.95
8860	0.68	220.3	51.5	4.9	706	8892	0.00	2.38	26.17	0.570	4	0.000	0.063	3414	3740	1893	0	0	0	0	0	0	28.83	25.27	24.04
8936	0.68	220.3	46.5	7.6	719	8943	0.00	2.22	0.00	0.000	6	0.000	0.045	3424	2324	1891	0	0	0	0	0	0	28.83	25.47	28.83
9251	0.69	243.2	25.6	5.5	780	9276	0.00	0.00	19.23	0.547	6	0.000	0.000	3424	2321	1803	0	0	0	0	0	0	28.83	28.83	24.14
9582	0.70	281.8	9.5	4.4	844	9622	0.00	2.33	33.00	0.545	4	0.000	0.063	3424	3734	1643	0	0	0	0	0	0	28.83	25.27	24.09
9690	end climb: SURFACE_DEPTH_REACHED
state	9690	begin surface coast
9702	end surface coast: CONTROL_FINISHED_OK
state	9702	begin surface