Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 835 * 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 835 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 27 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 -1590036.5 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 -1590036.5

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 27 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 835 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 200413,021854,4750.207,-12515.153,126,1.1,127,18.7 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 2.14 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -78.6 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 200413,022549,4750.141,-12515.144,14,1.6,14,18.7 MHEAD_RNG_PITCHd_Wd 202.2,1010,-25.9,-7.021,-29.18

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.1,1.008502 _10V_AH 9.7,86.331

SM_CCo 9775,62.42,0.452,4,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.52,8.75,0.20,62.42,0.032,0.071,0.452,110,2192,1570,-9.45,1.02,300.00,0,0,0,0,4,0,25.73,25.82,24.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,190413,232353 MEM 296792

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46850,876

HUMID 48.77 CAP_FILE_SIZE 99644,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,188149760

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 1 CURRENT 0.118, 73.8,1

_24V_AH 23.4,115.966 GPS 200413,051214,4749.763,-12514.604,41,1.8,42,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 219 115.08 SBE_CT 601 24 337.67

Roll_motor 87 81 165.89 SBE_O2 571 19 254.23

VBD_pump_during_apogee 255 831 4979.40 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 62 452 660.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.10 nil 0 0 0.00

Iridium_during_connect 43 160 164.17 nil 0 0 0.00

Iridium_during_xfer 208 223 1087.16 nil 0 0 0.00

Transponder_ping 0 420 2.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.43

TT8 2211 19 424.69

LPSleep 5627 2 119.54

TT8_Active 490 19 94.22

TT8_Sampling 1693 39 653.83

TT8_CF8 266 45 118.35

TT8_Kalman 0 0 0.00

Analog_circuits 1242 12 144.58

GPS_charging 0 0 0.00

Compass 1405 15 204.43

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 -0.83 -39.5 0.0 0.0 0 63 0.00 0.00 -44.62 0.000 2 0.000 0.000 105 2202 2560 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.83 -60.7 3.3 -4.4 8 99 11.35 2.35 -11.12 0.000 4 0.220 0.074 2912 3602 3046 0 0 0 0 0 0 24.56 25.29 26.17

332 -0.83 -60.7 66.6 -18.6 58 339 0.00 2.20 0.00 0.000 6 0.000 0.041 2911 2188 3048 0 0 0 0 0 0 28.83 25.37 28.83

646 -0.83 -60.7 122.4 -16.8 117 656 0.00 2.35 0.00 0.000 4 0.000 0.060 2901 3605 3049 0 0 0 0 0 0 28.83 24.97 28.83

695 -0.83 -60.7 131.0 -17.1 122 705 0.00 2.25 0.00 0.000 6 0.000 0.041 2901 2189 3049 0 0 0 0 0 0 28.83 25.34 28.83

1007 -0.83 -60.7 181.7 -15.2 143 1014 0.00 2.17 0.00 0.000 4 0.000 0.048 2901 797 3049 0 0 0 0 0 0 28.83 25.10 28.83

1186 -0.83 -60.7 209.7 -15.1 158 1191 0.10 2.28 0.00 0.000 6 0.159 0.049 2918 2202 3049 0 0 0 0 0 0 24.70 25.10 28.83

1505 -0.83 -60.7 254.5 -14.0 174 1511 0.00 2.28 0.00 0.000 4 0.000 0.047 2919 793 3049 0 0 0 0 0 0 28.83 25.08 28.83

1573 -0.83 -60.7 263.1 -14.1 177 1577 0.00 2.30 0.00 0.000 6 0.000 0.049 2910 2203 3049 0 0 0 0 0 0 28.83 25.06 28.83

1875 -0.83 -60.7 307.3 -14.0 192 1881 0.00 2.28 0.00 0.000 4 0.000 0.048 2910 797 3049 0 0 0 0 0 0 28.83 25.06 28.83

1935 -0.83 -60.7 315.8 -14.0 195 1941 0.00 2.28 0.00 0.000 6 0.000 0.049 2899 2199 3049 0 0 0 0 0 0 28.83 25.05 28.83

2257 -0.83 -60.7 360.1 -13.4 211 2261 0.00 2.33 0.00 0.000 4 0.000 0.060 2889 3619 3049 0 0 0 0 0 0 28.83 24.83 28.83

2295 -0.83 -60.7 365.7 -13.9 213 2301 0.15 2.28 0.00 0.000 6 0.164 0.041 2924 2201 3049 0 0 0 0 0 0 24.82 25.27 28.83

2615 -0.83 -60.7 408.3 -12.8 228 2621 0.00 2.28 0.00 0.000 4 0.000 0.049 2924 800 3049 0 0 0 0 0 0 28.83 25.00 28.83

2745 -0.83 -60.7 423.7 -12.9 232 2750 0.00 2.30 0.00 0.000 6 0.000 0.050 2916 2203 3049 0 0 0 0 0 0 28.83 24.98 28.83

3032 end dive: TARGET_DEPTH_EXCEEDED

state 3032 begin apogee

3039 -0.22 0.0 464.1 -13.3 242 3098 0.65 0.00 54.85 0.832 6 0.131 0.000 3115 2342 2794 0 0 0 0 0 0 24.37 28.83 23.65

3099 end apogee: CONTROL_FINISHED_OK

state 3099 begin climb

3101 0.83 60.7 467.4 0.0 244 3165 0.98 2.40 56.40 0.790 4 0.075 0.063 3457 3731 2545 0 0 0 0 0 0 24.85 24.80 23.42

3234 0.84 70.5 461.5 5.8 248 3254 0.00 2.30 9.73 0.711 6 0.000 0.045 3468 2323 2506 0 0 0 0 0 0 28.83 25.34 23.66

3556 0.84 70.5 435.6 8.3 259 3561 0.00 2.33 0.00 0.000 4 0.000 0.063 3468 3718 2501 0 0 0 0 0 0 28.83 25.24 28.83

3798 0.84 70.5 412.6 9.8 267 3802 0.00 2.20 0.00 0.000 6 0.000 0.046 3479 2325 2499 0 0 0 0 0 0 28.83 25.42 28.83

4105 0.84 71.3 388.2 6.9 280 4106 0.00 0.00 0.00 0.000 6 0.000 0.000 3480 2324 2499 0 0 0 0 0 0 28.83 28.83 28.83

4406 0.84 78.1 369.1 6.2 295 4415 0.00 0.00 7.22 0.653 6 0.000 0.000 3480 2324 2475 0 0 0 0 0 0 28.83 28.83 24.05

4715 0.84 78.1 344.3 8.6 310 4721 0.00 2.35 0.00 0.000 4 0.000 0.063 3480 3729 2473 0 0 0 0 0 0 28.83 25.08 28.83

4955 0.84 78.1 324.2 8.3 322 4961 0.00 2.30 0.00 0.000 6 0.000 0.046 3491 2322 2472 0 0 0 0 0 0 28.83 25.30 28.83

5278 0.84 78.1 299.7 7.8 338 5282 0.00 2.33 0.00 0.000 4 0.000 0.063 3492 3725 2472 0 0 0 0 0 0 28.83 24.89 28.83

5513 0.84 78.1 278.6 9.2 349 5518 0.15 2.30 0.00 0.000 6 0.182 0.046 3468 2321 2471 0 0 0 0 0 0 24.76 25.25 28.83

5816 0.84 81.7 256.3 6.6 364 5826 0.00 2.40 4.38 0.500 4 0.000 0.063 3468 3728 2460 0 0 0 0 0 0 28.83 25.20 24.07

6055 0.84 81.7 238.4 7.8 375 6064 0.00 2.30 0.00 0.000 6 0.000 0.045 3477 2319 2458 0 0 0 0 0 0 28.83 25.28 28.83

6366 0.84 81.7 215.6 7.1 391 6371 0.00 2.38 0.00 0.000 4 0.000 0.063 3477 3720 2459 0 0 0 0 0 0 28.83 24.83 28.83

6605 0.84 81.7 196.4 8.3 405 6615 0.00 2.28 0.00 0.000 6 0.000 0.044 3488 2323 2458 0 0 0 0 0 0 28.83 25.21 28.83

6916 0.84 81.7 173.6 7.3 426 6917 0.00 0.00 0.00 0.000 6 0.000 0.000 3488 2323 2459 0 0 0 0 0 0 28.83 28.83 28.83

7215 0.84 81.7 151.3 7.2 446 7225 0.00 2.38 0.00 0.000 4 0.000 0.062 3488 3721 2458 0 0 0 0 0 0 28.83 24.74 28.83

7255 0.84 81.7 148.3 7.4 450 7265 0.12 2.28 0.00 0.000 6 0.187 0.046 3472 2326 2458 0 0 0 0 0 0 24.76 25.16 28.83

7569 0.85 88.5 129.1 6.2 471 7584 0.00 2.28 7.70 0.550 4 0.000 0.053 3480 918 2433 0 0 0 0 0 0 28.83 25.16 24.11

7725 0.85 88.5 116.9 8.4 490 7733 0.00 2.22 0.00 0.000 6 0.000 0.052 3480 2319 2432 0 0 0 0 0 0 28.83 25.15 28.83

8041 0.86 117.3 97.3 3.5 551 8077 0.00 2.30 26.90 0.610 4 0.000 0.051 3492 922 2314 0 0 0 0 0 0 28.83 25.22 24.03

8087 0.86 130.3 95.0 5.4 558 8107 0.00 2.25 13.20 0.569 6 0.000 0.054 3492 2334 2261 0 0 0 0 0 0 28.83 25.24 23.87

8413 0.86 130.3 68.5 9.0 621 8420 0.00 2.30 0.00 0.000 4 0.000 0.063 3492 3741 2257 0 0 0 0 0 0 28.83 25.10 28.83

8591 0.87 141.8 55.4 5.6 655 8610 0.00 2.22 10.45 0.537 6 0.000 0.045 3503 2324 2214 0 0 0 0 0 0 28.83 25.35 24.12

8918 0.87 149.8 39.6 6.0 718 8932 0.00 2.33 7.88 0.503 4 0.000 0.061 3503 3743 2183 0 0 0 0 0 0 28.83 25.36 24.14

8976 0.87 154.8 35.8 6.4 728 8990 0.15 2.22 6.38 0.475 6 0.167 0.046 3476 2321 2161 0 0 0 0 0 0 25.18 25.55 24.12

9299 0.89 196.9 23.8 1.9 790 9343 0.00 2.25 36.25 0.564 4 0.000 0.051 3485 916 1989 0 0 0 0 0 0 28.83 25.30 24.08

9574 0.90 213.6 10.1 5.0 842 9595 0.00 2.25 14.57 0.526 6 0.000 0.051 3485 2327 1923 0 0 0 0 0 0 28.83 25.27 24.14

9685 end climb: SURFACE_DEPTH_REACHED

state 9688 begin surface coast

9753 end surface coast: CONTROL_FINISHED_OK

state 9753 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	835	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	27	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	-1590036.5	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	200413,021854,4750.207,-12515.153,126,1.1,127,18.7	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	2.14	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-78.6	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	200413,022549,4750.141,-12515.144,14,1.6,14,18.7	MHEAD_RNG_PITCHd_Wd	202.2,1010,-25.9,-7.021,-29.18
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	1.1,1.008502	_10V_AH	9.7,86.331
SM_CCo	9775,62.42,0.452,4,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.52,8.75,0.20,62.42,0.032,0.071,0.452,110,2192,1570,-9.45,1.02,300.00,0,0,0,0,4,0,25.73,25.82,24.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,190413,232353	MEM	296792
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46850,876
HUMID	48.77	CAP_FILE_SIZE	99644,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,188149760
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	1	CURRENT	0.118, 73.8,1
_24V_AH	23.4,115.966	GPS	200413,051214,4749.763,-12514.604,41,1.8,42,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	219	115.08	SBE_CT	601	24	337.67
Roll_motor	87	81	165.89	SBE_O2	571	19	254.23
VBD_pump_during_apogee	255	831	4979.40	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	62	452	660.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.10	nil	0	0	0.00
Iridium_during_connect	43	160	164.17	nil	0	0	0.00
Iridium_during_xfer	208	223	1087.16	nil	0	0	0.00
Transponder_ping	0	420	2.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.43
TT8	2211	19	424.69
LPSleep	5627	2	119.54
TT8_Active	490	19	94.22
TT8_Sampling	1693	39	653.83
TT8_CF8	266	45	118.35
TT8_Kalman	0	0	0.00
Analog_circuits	1242	12	144.58
GPS_charging	0	0	0.00
Compass	1405	15	204.43
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	-0.83	-39.5	0.0	0.0	0	63	0.00	0.00	-44.62	0.000	2	0.000	0.000	105	2202	2560	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.83	-60.7	3.3	-4.4	8	99	11.35	2.35	-11.12	0.000	4	0.220	0.074	2912	3602	3046	0	0	0	0	0	0	24.56	25.29	26.17
332	-0.83	-60.7	66.6	-18.6	58	339	0.00	2.20	0.00	0.000	6	0.000	0.041	2911	2188	3048	0	0	0	0	0	0	28.83	25.37	28.83
646	-0.83	-60.7	122.4	-16.8	117	656	0.00	2.35	0.00	0.000	4	0.000	0.060	2901	3605	3049	0	0	0	0	0	0	28.83	24.97	28.83
695	-0.83	-60.7	131.0	-17.1	122	705	0.00	2.25	0.00	0.000	6	0.000	0.041	2901	2189	3049	0	0	0	0	0	0	28.83	25.34	28.83
1007	-0.83	-60.7	181.7	-15.2	143	1014	0.00	2.17	0.00	0.000	4	0.000	0.048	2901	797	3049	0	0	0	0	0	0	28.83	25.10	28.83
1186	-0.83	-60.7	209.7	-15.1	158	1191	0.10	2.28	0.00	0.000	6	0.159	0.049	2918	2202	3049	0	0	0	0	0	0	24.70	25.10	28.83
1505	-0.83	-60.7	254.5	-14.0	174	1511	0.00	2.28	0.00	0.000	4	0.000	0.047	2919	793	3049	0	0	0	0	0	0	28.83	25.08	28.83
1573	-0.83	-60.7	263.1	-14.1	177	1577	0.00	2.30	0.00	0.000	6	0.000	0.049	2910	2203	3049	0	0	0	0	0	0	28.83	25.06	28.83
1875	-0.83	-60.7	307.3	-14.0	192	1881	0.00	2.28	0.00	0.000	4	0.000	0.048	2910	797	3049	0	0	0	0	0	0	28.83	25.06	28.83
1935	-0.83	-60.7	315.8	-14.0	195	1941	0.00	2.28	0.00	0.000	6	0.000	0.049	2899	2199	3049	0	0	0	0	0	0	28.83	25.05	28.83
2257	-0.83	-60.7	360.1	-13.4	211	2261	0.00	2.33	0.00	0.000	4	0.000	0.060	2889	3619	3049	0	0	0	0	0	0	28.83	24.83	28.83
2295	-0.83	-60.7	365.7	-13.9	213	2301	0.15	2.28	0.00	0.000	6	0.164	0.041	2924	2201	3049	0	0	0	0	0	0	24.82	25.27	28.83
2615	-0.83	-60.7	408.3	-12.8	228	2621	0.00	2.28	0.00	0.000	4	0.000	0.049	2924	800	3049	0	0	0	0	0	0	28.83	25.00	28.83
2745	-0.83	-60.7	423.7	-12.9	232	2750	0.00	2.30	0.00	0.000	6	0.000	0.050	2916	2203	3049	0	0	0	0	0	0	28.83	24.98	28.83
3032	end dive: TARGET_DEPTH_EXCEEDED
state	3032	begin apogee
3039	-0.22	0.0	464.1	-13.3	242	3098	0.65	0.00	54.85	0.832	6	0.131	0.000	3115	2342	2794	0	0	0	0	0	0	24.37	28.83	23.65
3099	end apogee: CONTROL_FINISHED_OK
state	3099	begin climb
3101	0.83	60.7	467.4	0.0	244	3165	0.98	2.40	56.40	0.790	4	0.075	0.063	3457	3731	2545	0	0	0	0	0	0	24.85	24.80	23.42
3234	0.84	70.5	461.5	5.8	248	3254	0.00	2.30	9.73	0.711	6	0.000	0.045	3468	2323	2506	0	0	0	0	0	0	28.83	25.34	23.66
3556	0.84	70.5	435.6	8.3	259	3561	0.00	2.33	0.00	0.000	4	0.000	0.063	3468	3718	2501	0	0	0	0	0	0	28.83	25.24	28.83
3798	0.84	70.5	412.6	9.8	267	3802	0.00	2.20	0.00	0.000	6	0.000	0.046	3479	2325	2499	0	0	0	0	0	0	28.83	25.42	28.83
4105	0.84	71.3	388.2	6.9	280	4106	0.00	0.00	0.00	0.000	6	0.000	0.000	3480	2324	2499	0	0	0	0	0	0	28.83	28.83	28.83
4406	0.84	78.1	369.1	6.2	295	4415	0.00	0.00	7.22	0.653	6	0.000	0.000	3480	2324	2475	0	0	0	0	0	0	28.83	28.83	24.05
4715	0.84	78.1	344.3	8.6	310	4721	0.00	2.35	0.00	0.000	4	0.000	0.063	3480	3729	2473	0	0	0	0	0	0	28.83	25.08	28.83
4955	0.84	78.1	324.2	8.3	322	4961	0.00	2.30	0.00	0.000	6	0.000	0.046	3491	2322	2472	0	0	0	0	0	0	28.83	25.30	28.83
5278	0.84	78.1	299.7	7.8	338	5282	0.00	2.33	0.00	0.000	4	0.000	0.063	3492	3725	2472	0	0	0	0	0	0	28.83	24.89	28.83
5513	0.84	78.1	278.6	9.2	349	5518	0.15	2.30	0.00	0.000	6	0.182	0.046	3468	2321	2471	0	0	0	0	0	0	24.76	25.25	28.83
5816	0.84	81.7	256.3	6.6	364	5826	0.00	2.40	4.38	0.500	4	0.000	0.063	3468	3728	2460	0	0	0	0	0	0	28.83	25.20	24.07
6055	0.84	81.7	238.4	7.8	375	6064	0.00	2.30	0.00	0.000	6	0.000	0.045	3477	2319	2458	0	0	0	0	0	0	28.83	25.28	28.83
6366	0.84	81.7	215.6	7.1	391	6371	0.00	2.38	0.00	0.000	4	0.000	0.063	3477	3720	2459	0	0	0	0	0	0	28.83	24.83	28.83
6605	0.84	81.7	196.4	8.3	405	6615	0.00	2.28	0.00	0.000	6	0.000	0.044	3488	2323	2458	0	0	0	0	0	0	28.83	25.21	28.83
6916	0.84	81.7	173.6	7.3	426	6917	0.00	0.00	0.00	0.000	6	0.000	0.000	3488	2323	2459	0	0	0	0	0	0	28.83	28.83	28.83
7215	0.84	81.7	151.3	7.2	446	7225	0.00	2.38	0.00	0.000	4	0.000	0.062	3488	3721	2458	0	0	0	0	0	0	28.83	24.74	28.83
7255	0.84	81.7	148.3	7.4	450	7265	0.12	2.28	0.00	0.000	6	0.187	0.046	3472	2326	2458	0	0	0	0	0	0	24.76	25.16	28.83
7569	0.85	88.5	129.1	6.2	471	7584	0.00	2.28	7.70	0.550	4	0.000	0.053	3480	918	2433	0	0	0	0	0	0	28.83	25.16	24.11
7725	0.85	88.5	116.9	8.4	490	7733	0.00	2.22	0.00	0.000	6	0.000	0.052	3480	2319	2432	0	0	0	0	0	0	28.83	25.15	28.83
8041	0.86	117.3	97.3	3.5	551	8077	0.00	2.30	26.90	0.610	4	0.000	0.051	3492	922	2314	0	0	0	0	0	0	28.83	25.22	24.03
8087	0.86	130.3	95.0	5.4	558	8107	0.00	2.25	13.20	0.569	6	0.000	0.054	3492	2334	2261	0	0	0	0	0	0	28.83	25.24	23.87
8413	0.86	130.3	68.5	9.0	621	8420	0.00	2.30	0.00	0.000	4	0.000	0.063	3492	3741	2257	0	0	0	0	0	0	28.83	25.10	28.83
8591	0.87	141.8	55.4	5.6	655	8610	0.00	2.22	10.45	0.537	6	0.000	0.045	3503	2324	2214	0	0	0	0	0	0	28.83	25.35	24.12
8918	0.87	149.8	39.6	6.0	718	8932	0.00	2.33	7.88	0.503	4	0.000	0.061	3503	3743	2183	0	0	0	0	0	0	28.83	25.36	24.14
8976	0.87	154.8	35.8	6.4	728	8990	0.15	2.22	6.38	0.475	6	0.167	0.046	3476	2321	2161	0	0	0	0	0	0	25.18	25.55	24.12
9299	0.89	196.9	23.8	1.9	790	9343	0.00	2.25	36.25	0.564	4	0.000	0.051	3485	916	1989	0	0	0	0	0	0	28.83	25.30	24.08
9574	0.90	213.6	10.1	5.0	842	9595	0.00	2.25	14.57	0.526	6	0.000	0.051	3485	2327	1923	0	0	0	0	0	0	28.83	25.27	24.14
9685	end climb: SURFACE_DEPTH_REACHED
state	9688	begin surface coast
9753	end surface coast: CONTROL_FINISHED_OK
state	9753	begin surface