Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 832 * 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 832 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 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 -1590032.8 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 -1590032.8

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 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 832 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 190413,173606,4749.609,-12515.007,32,1.2,32,18.7 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 1.98 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.8 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 190413,174236,4749.597,-12514.985,14,1.5,19,18.7 MHEAD_RNG_PITCHd_Wd 242.3,329,-26.8,-7.021,-30.00

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.012589 _10V_AH 9.8,86.152

SM_CCo 10192,50.60,0.438,3,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.67,8.77,2.50,50.60,0.030,0.043,0.438,106,2197,1570,-9.47,0.96,300.00,0,0,0,0,3,0,25.76,25.46,24.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12516.60,190413,141402 MEM 296764

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 50186,908

HUMID 48.50 CAP_FILE_SIZE 100102,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260165632,188317696

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 2 CURRENT 0.114,100.3,1

_24V_AH 23.4,115.721 GPS 190413,203654,4749.154,-12514.802,124,1.1,125,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 217 113.37 SBE_CT 622 24 349.65

Roll_motor 87 81 167.31 SBE_O2 591 19 262.88

VBD_pump_during_apogee 256 841 5055.20 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 50 437 518.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.81 nil 0 0 0.00

Iridium_during_connect 34 160 129.60 nil 0 0 0.00

Iridium_during_xfer 187 223 979.21 nil 0 0 0.00

Transponder_ping 0 420 4.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 10.03

TT8 2273 19 441.06

LPSleep 5940 2 127.49

TT8_Active 468 19 90.92

TT8_Sampling 1691 39 659.75

TT8_CF8 280 45 125.91

TT8_Kalman 0 0 0.00

Analog_circuits 1230 12 144.71

GPS_charging 0 0 0.00

Compass 1433 15 210.74

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 -0.85 -36.8 0.0 0.0 0 80 0.00 0.00 -61.08 0.000 2 0.000 0.000 107 2196 2685 0 0 0 0 0 0 28.83 28.83 28.83

84 -0.86 -55.7 3.5 -4.6 11 110 11.23 2.33 -7.12 0.000 4 0.217 0.072 2899 3613 3024 0 0 0 0 0 0 24.51 25.29 26.17

276 -0.86 -55.7 55.4 -21.9 47 282 0.00 2.22 0.00 0.000 6 0.000 0.041 2899 2195 3027 0 0 0 0 0 0 28.83 25.40 28.83

590 -0.86 -55.7 113.5 -17.0 108 595 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2188 3028 0 0 0 0 0 0 28.83 28.83 28.83

904 -0.86 -55.7 163.3 -15.7 134 912 0.00 2.22 0.00 0.000 4 0.000 0.048 2899 802 3028 0 0 0 0 0 0 28.83 25.13 28.83

1083 -0.86 -55.7 193.0 -16.6 152 1092 0.00 2.28 0.00 0.000 6 0.000 0.049 2889 2201 3028 0 0 0 0 0 0 28.83 25.11 28.83

1400 -0.86 -55.7 243.5 -16.0 169 1404 0.00 2.25 0.00 0.000 4 0.000 0.047 2889 802 3028 0 0 0 0 0 0 28.83 25.10 28.83

1438 -0.86 -55.7 249.7 -15.7 171 1445 0.15 2.28 0.00 0.000 6 0.171 0.048 2914 2202 3028 0 0 0 0 0 0 24.71 25.10 28.83

1760 -0.86 -55.7 294.6 -14.0 187 1761 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2201 3028 0 0 0 0 0 0 28.83 28.83 28.83

2059 -0.86 -55.7 334.5 -12.9 202 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2201 3028 0 0 0 0 0 0 28.83 28.83 28.83

2360 -0.86 -55.7 374.8 -13.6 217 2364 0.00 2.30 0.00 0.000 4 0.000 0.060 2905 3610 3028 0 0 0 0 0 0 28.83 24.83 28.83

2439 -0.86 -55.7 386.0 -14.1 221 2444 0.00 2.25 0.00 0.000 6 0.000 0.042 2905 2207 3028 0 0 0 0 0 0 28.83 25.27 28.83

2769 -0.86 -55.7 431.0 -13.5 234 2774 0.00 2.28 0.00 0.000 4 0.000 0.049 2905 794 3027 0 0 0 0 0 0 28.83 25.03 28.83

2860 -0.86 -55.7 443.6 -13.9 237 2864 0.00 2.28 0.00 0.000 6 0.000 0.050 2894 2194 3027 0 0 0 0 0 0 28.83 25.01 28.83

3126 end dive: TARGET_DEPTH_EXCEEDED

state 3126 begin apogee

3135 -0.22 0.0 482.3 -14.1 246 3189 0.75 0.00 50.62 0.842 6 0.137 0.000 3119 2337 2794 0 0 0 0 0 0 24.17 28.83 23.67

3190 end apogee: CONTROL_FINISHED_OK

state 3190 begin climb

3193 0.86 55.7 486.1 0.0 248 3248 1.00 0.00 51.70 0.802 6 0.077 0.000 3466 2337 2567 0 0 0 0 0 0 24.84 28.83 23.42

3539 0.86 58.6 466.6 6.6 260 3544 0.00 2.30 0.00 0.000 4 0.000 0.063 3467 3720 2560 0 0 0 0 0 0 28.83 25.31 28.83

3609 0.86 58.6 461.9 7.2 262 3614 0.00 2.25 0.00 0.000 6 0.000 0.045 3478 2326 2559 0 0 0 0 0 0 28.83 25.51 28.83

3929 0.87 67.2 441.2 5.9 273 3945 0.00 2.35 10.20 0.730 4 0.000 0.063 3478 3720 2519 0 0 0 0 0 0 28.83 25.39 24.00

3967 0.87 75.5 439.3 5.9 274 3981 0.00 2.28 9.27 0.714 6 0.000 0.046 3490 2319 2486 0 0 0 0 0 0 28.83 25.58 23.91

4280 0.87 75.5 412.4 8.7 284 4284 0.00 2.35 0.00 0.000 4 0.000 0.063 3490 3721 2483 0 0 0 0 0 0 28.83 25.18 28.83

4520 0.87 75.5 389.5 9.5 294 4524 0.00 2.22 0.00 0.000 6 0.000 0.046 3501 2319 2482 0 0 0 0 0 0 28.83 25.39 28.83

4840 0.87 75.5 363.2 7.9 310 4844 0.00 2.30 0.00 0.000 4 0.000 0.063 3501 3720 2482 0 0 0 0 0 0 28.83 24.98 28.83

4878 0.87 75.5 359.7 8.3 312 4885 0.15 2.28 0.00 0.000 6 0.184 0.046 3477 2325 2481 0 0 0 0 0 0 24.87 25.34 28.83

5199 0.87 80.8 337.6 6.3 328 5209 0.00 2.38 5.62 0.597 4 0.000 0.063 3477 3722 2464 0 0 0 0 0 0 28.83 25.32 24.07

5441 0.87 80.8 318.3 8.4 339 5448 0.00 2.22 0.00 0.000 6 0.000 0.046 3486 2316 2463 0 0 0 0 0 0 28.83 25.37 28.83

5748 0.87 80.8 295.3 7.3 355 5754 0.00 2.38 0.00 0.000 4 0.000 0.063 3486 3731 2462 0 0 0 0 0 0 28.83 24.91 28.83

5989 0.87 80.8 271.6 9.7 367 5994 0.00 2.28 0.00 0.000 6 0.000 0.047 3498 2329 2462 0 0 0 0 0 0 28.83 25.25 28.83

6308 0.87 80.8 245.3 7.7 383 6314 0.00 2.38 0.00 0.000 4 0.000 0.063 3498 3734 2462 0 0 0 0 0 0 28.83 24.82 28.83

6549 0.87 80.8 225.6 8.1 395 6555 0.10 2.30 0.00 0.000 6 0.165 0.045 3481 2318 2461 0 0 0 0 0 0 24.75 25.21 28.83

6869 0.87 84.8 205.0 6.5 411 6878 0.00 2.40 4.82 0.506 4 0.000 0.063 3481 3725 2448 0 0 0 0 0 0 28.83 25.15 24.07

7112 0.87 84.8 186.5 7.9 430 7119 0.00 2.22 0.00 0.000 6 0.000 0.046 3490 2317 2447 0 0 0 0 0 0 28.83 25.27 28.83

7418 0.87 84.8 163.4 7.9 451 7427 0.00 2.38 0.00 0.000 4 0.000 0.063 3490 3727 2447 0 0 0 0 0 0 28.83 24.80 28.83

7660 0.87 84.8 143.2 7.1 475 7667 0.00 2.28 0.00 0.000 6 0.000 0.045 3502 2325 2447 0 0 0 0 0 0 28.83 25.20 28.83

7969 0.88 102.1 125.8 4.7 496 7991 0.00 2.38 17.38 0.610 4 0.000 0.063 3501 3720 2376 0 0 0 0 0 0 28.83 25.13 24.10

8217 0.88 102.1 104.8 9.2 536 8224 0.15 2.25 0.00 0.000 6 0.178 0.045 3477 2314 2373 0 0 0 0 0 0 24.92 25.37 28.83

8533 0.89 126.5 88.5 3.8 597 8564 0.00 2.33 22.38 0.595 4 0.000 0.064 3477 3722 2277 0 0 0 0 0 0 28.83 25.22 24.08

8637 0.89 127.5 82.5 6.9 616 8644 0.00 2.20 0.00 0.000 6 0.000 0.046 3485 2324 2275 0 0 0 0 0 0 28.83 25.46 28.83

8953 0.89 131.7 63.4 6.5 677 8967 0.00 2.28 5.78 0.477 4 0.000 0.053 3497 902 2257 0 0 0 0 0 0 28.83 25.39 24.12

9199 0.90 149.4 49.2 4.7 724 9224 0.00 2.22 16.80 0.558 6 0.000 0.051 3497 2314 2183 0 0 0 0 0 0 28.83 25.19 24.13

9532 0.90 152.8 29.6 6.6 788 9539 0.00 2.20 0.00 0.000 4 0.000 0.051 3508 925 2179 0 0 0 0 0 0 28.83 25.19 28.83

9691 0.91 190.0 22.6 2.2 818 9733 0.00 2.22 34.80 0.560 6 0.000 0.051 3508 2332 2019 0 0 0 0 0 0 28.83 25.15 24.06

10042 0.93 222.2 9.0 2.8 885 10075 0.00 2.38 27.35 0.542 4 0.000 0.063 3508 3739 1886 0 0 0 0 0 0 28.83 25.29 24.09

10126 end climb: SURFACE_DEPTH_REACHED

state 10126 begin surface coast

10168 end surface coast: CONTROL_FINISHED_OK

state 10168 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	832	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	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	-1590032.8	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	190413,173606,4749.609,-12515.007,32,1.2,32,18.7	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	1.98	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.8	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	190413,174236,4749.597,-12514.985,14,1.5,19,18.7	MHEAD_RNG_PITCHd_Wd	242.3,329,-26.8,-7.021,-30.00
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.012589	_10V_AH	9.8,86.152
SM_CCo	10192,50.60,0.438,3,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.67,8.77,2.50,50.60,0.030,0.043,0.438,106,2197,1570,-9.47,0.96,300.00,0,0,0,0,3,0,25.76,25.46,24.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12516.60,190413,141402	MEM	296764
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	50186,908
HUMID	48.50	CAP_FILE_SIZE	100102,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260165632,188317696
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	2	CURRENT	0.114,100.3,1
_24V_AH	23.4,115.721	GPS	190413,203654,4749.154,-12514.802,124,1.1,125,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	217	113.37	SBE_CT	622	24	349.65
Roll_motor	87	81	167.31	SBE_O2	591	19	262.88
VBD_pump_during_apogee	256	841	5055.20	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	50	437	518.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.81	nil	0	0	0.00
Iridium_during_connect	34	160	129.60	nil	0	0	0.00
Iridium_during_xfer	187	223	979.21	nil	0	0	0.00
Transponder_ping	0	420	4.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	10.03
TT8	2273	19	441.06
LPSleep	5940	2	127.49
TT8_Active	468	19	90.92
TT8_Sampling	1691	39	659.75
TT8_CF8	280	45	125.91
TT8_Kalman	0	0	0.00
Analog_circuits	1230	12	144.71
GPS_charging	0	0	0.00
Compass	1433	15	210.74
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	-0.85	-36.8	0.0	0.0	0	80	0.00	0.00	-61.08	0.000	2	0.000	0.000	107	2196	2685	0	0	0	0	0	0	28.83	28.83	28.83
84	-0.86	-55.7	3.5	-4.6	11	110	11.23	2.33	-7.12	0.000	4	0.217	0.072	2899	3613	3024	0	0	0	0	0	0	24.51	25.29	26.17
276	-0.86	-55.7	55.4	-21.9	47	282	0.00	2.22	0.00	0.000	6	0.000	0.041	2899	2195	3027	0	0	0	0	0	0	28.83	25.40	28.83
590	-0.86	-55.7	113.5	-17.0	108	595	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2188	3028	0	0	0	0	0	0	28.83	28.83	28.83
904	-0.86	-55.7	163.3	-15.7	134	912	0.00	2.22	0.00	0.000	4	0.000	0.048	2899	802	3028	0	0	0	0	0	0	28.83	25.13	28.83
1083	-0.86	-55.7	193.0	-16.6	152	1092	0.00	2.28	0.00	0.000	6	0.000	0.049	2889	2201	3028	0	0	0	0	0	0	28.83	25.11	28.83
1400	-0.86	-55.7	243.5	-16.0	169	1404	0.00	2.25	0.00	0.000	4	0.000	0.047	2889	802	3028	0	0	0	0	0	0	28.83	25.10	28.83
1438	-0.86	-55.7	249.7	-15.7	171	1445	0.15	2.28	0.00	0.000	6	0.171	0.048	2914	2202	3028	0	0	0	0	0	0	24.71	25.10	28.83
1760	-0.86	-55.7	294.6	-14.0	187	1761	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	2201	3028	0	0	0	0	0	0	28.83	28.83	28.83
2059	-0.86	-55.7	334.5	-12.9	202	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	2201	3028	0	0	0	0	0	0	28.83	28.83	28.83
2360	-0.86	-55.7	374.8	-13.6	217	2364	0.00	2.30	0.00	0.000	4	0.000	0.060	2905	3610	3028	0	0	0	0	0	0	28.83	24.83	28.83
2439	-0.86	-55.7	386.0	-14.1	221	2444	0.00	2.25	0.00	0.000	6	0.000	0.042	2905	2207	3028	0	0	0	0	0	0	28.83	25.27	28.83
2769	-0.86	-55.7	431.0	-13.5	234	2774	0.00	2.28	0.00	0.000	4	0.000	0.049	2905	794	3027	0	0	0	0	0	0	28.83	25.03	28.83
2860	-0.86	-55.7	443.6	-13.9	237	2864	0.00	2.28	0.00	0.000	6	0.000	0.050	2894	2194	3027	0	0	0	0	0	0	28.83	25.01	28.83
3126	end dive: TARGET_DEPTH_EXCEEDED
state	3126	begin apogee
3135	-0.22	0.0	482.3	-14.1	246	3189	0.75	0.00	50.62	0.842	6	0.137	0.000	3119	2337	2794	0	0	0	0	0	0	24.17	28.83	23.67
3190	end apogee: CONTROL_FINISHED_OK
state	3190	begin climb
3193	0.86	55.7	486.1	0.0	248	3248	1.00	0.00	51.70	0.802	6	0.077	0.000	3466	2337	2567	0	0	0	0	0	0	24.84	28.83	23.42
3539	0.86	58.6	466.6	6.6	260	3544	0.00	2.30	0.00	0.000	4	0.000	0.063	3467	3720	2560	0	0	0	0	0	0	28.83	25.31	28.83
3609	0.86	58.6	461.9	7.2	262	3614	0.00	2.25	0.00	0.000	6	0.000	0.045	3478	2326	2559	0	0	0	0	0	0	28.83	25.51	28.83
3929	0.87	67.2	441.2	5.9	273	3945	0.00	2.35	10.20	0.730	4	0.000	0.063	3478	3720	2519	0	0	0	0	0	0	28.83	25.39	24.00
3967	0.87	75.5	439.3	5.9	274	3981	0.00	2.28	9.27	0.714	6	0.000	0.046	3490	2319	2486	0	0	0	0	0	0	28.83	25.58	23.91
4280	0.87	75.5	412.4	8.7	284	4284	0.00	2.35	0.00	0.000	4	0.000	0.063	3490	3721	2483	0	0	0	0	0	0	28.83	25.18	28.83
4520	0.87	75.5	389.5	9.5	294	4524	0.00	2.22	0.00	0.000	6	0.000	0.046	3501	2319	2482	0	0	0	0	0	0	28.83	25.39	28.83
4840	0.87	75.5	363.2	7.9	310	4844	0.00	2.30	0.00	0.000	4	0.000	0.063	3501	3720	2482	0	0	0	0	0	0	28.83	24.98	28.83
4878	0.87	75.5	359.7	8.3	312	4885	0.15	2.28	0.00	0.000	6	0.184	0.046	3477	2325	2481	0	0	0	0	0	0	24.87	25.34	28.83
5199	0.87	80.8	337.6	6.3	328	5209	0.00	2.38	5.62	0.597	4	0.000	0.063	3477	3722	2464	0	0	0	0	0	0	28.83	25.32	24.07
5441	0.87	80.8	318.3	8.4	339	5448	0.00	2.22	0.00	0.000	6	0.000	0.046	3486	2316	2463	0	0	0	0	0	0	28.83	25.37	28.83
5748	0.87	80.8	295.3	7.3	355	5754	0.00	2.38	0.00	0.000	4	0.000	0.063	3486	3731	2462	0	0	0	0	0	0	28.83	24.91	28.83
5989	0.87	80.8	271.6	9.7	367	5994	0.00	2.28	0.00	0.000	6	0.000	0.047	3498	2329	2462	0	0	0	0	0	0	28.83	25.25	28.83
6308	0.87	80.8	245.3	7.7	383	6314	0.00	2.38	0.00	0.000	4	0.000	0.063	3498	3734	2462	0	0	0	0	0	0	28.83	24.82	28.83
6549	0.87	80.8	225.6	8.1	395	6555	0.10	2.30	0.00	0.000	6	0.165	0.045	3481	2318	2461	0	0	0	0	0	0	24.75	25.21	28.83
6869	0.87	84.8	205.0	6.5	411	6878	0.00	2.40	4.82	0.506	4	0.000	0.063	3481	3725	2448	0	0	0	0	0	0	28.83	25.15	24.07
7112	0.87	84.8	186.5	7.9	430	7119	0.00	2.22	0.00	0.000	6	0.000	0.046	3490	2317	2447	0	0	0	0	0	0	28.83	25.27	28.83
7418	0.87	84.8	163.4	7.9	451	7427	0.00	2.38	0.00	0.000	4	0.000	0.063	3490	3727	2447	0	0	0	0	0	0	28.83	24.80	28.83
7660	0.87	84.8	143.2	7.1	475	7667	0.00	2.28	0.00	0.000	6	0.000	0.045	3502	2325	2447	0	0	0	0	0	0	28.83	25.20	28.83
7969	0.88	102.1	125.8	4.7	496	7991	0.00	2.38	17.38	0.610	4	0.000	0.063	3501	3720	2376	0	0	0	0	0	0	28.83	25.13	24.10
8217	0.88	102.1	104.8	9.2	536	8224	0.15	2.25	0.00	0.000	6	0.178	0.045	3477	2314	2373	0	0	0	0	0	0	24.92	25.37	28.83
8533	0.89	126.5	88.5	3.8	597	8564	0.00	2.33	22.38	0.595	4	0.000	0.064	3477	3722	2277	0	0	0	0	0	0	28.83	25.22	24.08
8637	0.89	127.5	82.5	6.9	616	8644	0.00	2.20	0.00	0.000	6	0.000	0.046	3485	2324	2275	0	0	0	0	0	0	28.83	25.46	28.83
8953	0.89	131.7	63.4	6.5	677	8967	0.00	2.28	5.78	0.477	4	0.000	0.053	3497	902	2257	0	0	0	0	0	0	28.83	25.39	24.12
9199	0.90	149.4	49.2	4.7	724	9224	0.00	2.22	16.80	0.558	6	0.000	0.051	3497	2314	2183	0	0	0	0	0	0	28.83	25.19	24.13
9532	0.90	152.8	29.6	6.6	788	9539	0.00	2.20	0.00	0.000	4	0.000	0.051	3508	925	2179	0	0	0	0	0	0	28.83	25.19	28.83
9691	0.91	190.0	22.6	2.2	818	9733	0.00	2.22	34.80	0.560	6	0.000	0.051	3508	2332	2019	0	0	0	0	0	0	28.83	25.15	24.06
10042	0.93	222.2	9.0	2.8	885	10075	0.00	2.38	27.35	0.542	4	0.000	0.063	3508	3739	1886	0	0	0	0	0	0	28.83	25.29	24.09
10126	end climb: SURFACE_DEPTH_REACHED
state	10126	begin surface coast
10168	end surface coast: CONTROL_FINISHED_OK
state	10168	begin surface