Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 854 * 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 854 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 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 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 -1590060.2 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3195 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0031000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0031000001 PRESSURE_YINT -61.06522 T_DIVE 470

CALL_WAIT 60 HD_B 0.0093 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 4.5000001e-05 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1590060.2

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 520

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3195 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 10

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2794 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 27 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 854 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 220413,085909,4749.285,-12515.264,36,4.8,56,18.7 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 2.07 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -76.4 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 220413,090513,4749.261,-12515.243,14,1.9,14,18.7 MHEAD_RNG_PITCHd_Wd 297.7,627,-25.3,-7.021,-28.65

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.2,1.024029 _10V_AH 9.8,87.460

SM_CCo 10050,78.05,0.470,4,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 1.89,8.77,0.17,78.05,0.030,0.076,0.470,104,2194,1570,-9.47,1.24,300.00,0,0,0,0,4,0,25.77,25.87,23.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12521.07,220413,060630 MEM 296780

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46976,880

HUMID 48.38 CAP_FILE_SIZE 99293,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,187076608

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 CURRENT 0.112,155.1,1

_24V_AH 23.4,117.502 GPS 220413,115659,4749.111,-12515.791,66,1.6,72,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 217 113.24 SBE_CT 603 24 338.67

Roll_motor 87 76 156.45 SBE_O2 571 19 254.19

VBD_pump_during_apogee 244 845 4836.36 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 78 470 859.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.16 nil 0 0 0.00

Iridium_during_connect 35 160 133.26 nil 0 0 0.00

Iridium_during_xfer 168 223 878.88 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.58

TT8 2222 19 431.31

LPSleep 5899 2 126.61

TT8_Active 505 19 98.01

TT8_Sampling 1628 39 635.17

TT8_CF8 274 45 123.22

TT8_Kalman 0 0 0.00

Analog_circuits 1248 12 146.86

GPS_charging 0 0 0.00

Compass 1394 15 204.94

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 14 begin dive

17 -0.81 -41.3 0.0 0.0 0 69 0.00 0.00 -49.53 0.000 2 0.000 0.000 112 2203 2675 0 0 0 0 0 0 28.83 28.83 28.83

73 -0.82 -72.8 3.2 -3.3 9 99 11.25 2.35 -9.02 0.000 4 0.217 0.067 2916 3620 3094 0 0 0 0 0 0 24.56 25.33 26.15

147 -0.82 -72.8 25.6 -25.6 22 153 0.00 2.22 0.00 0.000 6 0.000 0.041 2915 2200 3096 0 0 0 0 0 0 28.83 25.42 28.83

460 -0.82 -72.8 95.4 -19.3 83 465 0.00 0.00 0.00 0.000 6 0.000 0.000 2915 2194 3097 0 0 0 0 0 0 28.83 28.83 28.83

778 -0.82 -72.8 149.5 -15.7 122 787 0.00 2.25 0.00 0.000 4 0.000 0.049 2915 800 3097 0 0 0 0 0 0 28.83 25.08 28.83

978 -0.82 -72.8 182.1 -15.8 142 987 0.00 2.28 0.00 0.000 6 0.000 0.049 2905 2200 3098 0 0 0 0 0 0 28.83 25.08 28.83

1295 -0.82 -72.8 234.2 -15.9 160 1299 0.00 2.25 0.00 0.000 4 0.000 0.048 2905 798 3098 0 0 0 0 0 0 28.83 25.06 28.83

1394 -0.82 -72.8 249.8 -15.4 165 1400 0.10 2.25 0.00 0.000 6 0.156 0.048 2923 2193 3098 0 0 0 0 0 0 24.65 25.04 28.83

1714 -0.82 -72.8 294.7 -14.0 181 1719 0.00 2.25 0.00 0.000 4 0.000 0.048 2923 797 3098 0 0 0 0 0 0 28.83 25.02 28.83

1783 -0.82 -72.8 303.0 -13.8 184 1792 0.00 2.30 0.00 0.000 6 0.000 0.049 2915 2205 3098 0 0 0 0 0 0 28.83 25.00 28.83

2093 -0.82 -72.8 348.8 -15.2 200 2099 0.00 2.30 0.00 0.000 4 0.000 0.048 2915 787 3098 0 0 0 0 0 0 28.83 24.99 28.83

2133 -0.82 -72.8 354.9 -15.1 202 2139 0.00 2.33 0.00 0.000 6 0.000 0.048 2903 2213 3098 0 0 0 0 0 0 28.83 25.00 28.83

2465 -0.82 -72.8 406.0 -15.3 218 2469 0.00 2.33 0.00 0.000 4 0.000 0.061 2893 3604 3098 0 0 0 0 0 0 28.83 24.73 28.83

2562 -0.82 -72.8 419.8 -15.3 221 2567 0.15 2.28 0.00 0.000 6 0.162 0.042 2929 2197 3097 0 0 0 0 0 0 24.77 25.19 28.83

2875 -0.82 -72.8 459.8 -12.9 232 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2190 3098 0 0 0 0 0 0 28.83 28.83 28.83

3054 end dive: TARGET_DEPTH_EXCEEDED

state 3054 begin apogee

3061 -0.22 0.0 483.7 -13.5 238 3131 0.60 0.00 64.97 0.845 6 0.125 0.000 3118 2339 2793 0 0 0 0 0 0 24.47 28.83 23.60

3132 end apogee: CONTROL_FINISHED_OK

state 3132 begin climb

3135 0.82 72.8 488.0 0.0 240 3206 1.00 0.00 67.45 0.807 6 0.077 0.000 3459 2339 2497 0 0 0 0 0 0 24.75 28.83 23.39

3506 0.82 72.8 467.4 7.6 253 3511 0.00 2.30 0.00 0.000 4 0.000 0.063 3459 3719 2489 0 0 0 0 0 0 28.83 25.27 28.83

3746 0.82 72.8 446.0 8.7 261 3750 0.00 2.25 0.00 0.000 6 0.000 0.045 3470 2325 2487 0 0 0 0 0 0 28.83 25.44 28.83

4075 0.82 72.8 418.6 8.3 272 4080 0.00 2.38 0.00 0.000 4 0.000 0.063 3471 3736 2486 0 0 0 0 0 0 28.83 25.05 28.83

4226 0.82 72.8 405.6 8.7 277 4230 0.00 2.28 0.00 0.000 6 0.000 0.046 3482 2326 2485 0 0 0 0 0 0 28.83 25.34 28.83

4535 0.82 72.8 380.1 8.0 291 4536 0.00 0.00 0.00 0.000 6 0.000 0.000 3482 2325 2485 0 0 0 0 0 0 28.83 28.83 28.83

4837 0.82 72.8 357.4 7.0 306 4841 0.00 2.33 0.00 0.000 4 0.000 0.064 3482 3730 2484 0 0 0 0 0 0 28.83 24.89 28.83

5075 0.82 72.8 340.1 7.4 318 5081 0.10 2.28 0.00 0.000 6 0.162 0.046 3465 2329 2483 0 0 0 0 0 0 24.79 25.23 28.83

5396 0.83 83.9 321.7 5.7 334 5414 0.00 2.35 9.25 0.670 4 0.000 0.064 3464 3719 2450 0 0 0 0 0 0 28.83 25.23 24.04

5648 0.83 83.9 300.8 9.1 346 5654 0.00 2.22 0.00 0.000 6 0.000 0.047 3474 2313 2449 0 0 0 0 0 0 28.83 25.37 28.83

5955 0.83 83.9 275.8 7.5 362 5961 0.00 2.38 0.00 0.000 4 0.000 0.064 3474 3723 2449 0 0 0 0 0 0 28.83 24.89 28.83

6117 0.83 83.9 261.4 9.5 370 6121 0.00 2.22 0.00 0.000 6 0.000 0.046 3485 2326 2448 0 0 0 0 0 0 28.83 25.22 28.83

6435 0.83 83.9 233.5 8.6 386 6437 0.00 0.00 0.00 0.000 6 0.000 0.000 3485 2324 2448 0 0 0 0 0 0 28.83 28.83 28.83

6736 0.83 83.9 207.3 8.4 401 6741 0.00 2.30 0.00 0.000 4 0.000 0.053 3496 920 2448 0 0 0 0 0 0 28.83 24.93 28.83

6763 0.83 83.9 205.7 8.3 402 6768 0.15 2.30 0.00 0.000 6 0.166 0.053 3461 2313 2448 0 0 0 0 0 0 24.60 24.94 28.83

7070 0.83 83.9 182.2 7.3 421 7080 0.00 2.38 0.00 0.000 4 0.000 0.063 3460 3730 2447 0 0 0 0 0 0 28.83 24.72 28.83

7311 0.83 84.1 163.5 7.0 445 7319 0.00 2.28 0.00 0.000 6 0.000 0.046 3469 2325 2447 0 0 0 0 0 0 28.83 25.13 28.83

7621 0.83 96.3 146.3 5.6 466 7641 0.00 2.33 12.40 0.605 4 0.000 0.063 3470 3735 2400 0 0 0 0 0 0 28.83 25.10 24.08

7691 0.83 104.8 142.3 6.0 473 7709 0.00 2.28 9.40 0.578 6 0.000 0.046 3481 2326 2365 0 0 0 0 0 0 28.83 25.41 24.01

8012 0.83 104.8 120.6 7.2 495 8019 0.00 2.33 0.00 0.000 4 0.000 0.063 3481 3743 2363 0 0 0 0 0 0 28.83 25.01 28.83

8099 0.83 104.8 113.1 9.6 511 8105 0.00 2.25 0.00 0.000 6 0.000 0.047 3493 2320 2363 0 0 0 0 0 0 28.83 25.29 28.83

8410 0.84 108.9 91.7 6.5 572 8424 0.00 2.30 4.43 0.444 4 0.000 0.052 3504 920 2350 0 0 0 0 0 0 28.83 25.32 24.14

8571 0.84 114.0 80.8 6.4 602 8585 0.15 2.25 6.47 0.506 6 0.167 0.053 3467 2336 2329 0 0 0 0 0 0 24.82 25.13 24.15

8893 0.85 153.6 70.4 2.4 664 8936 0.00 2.28 35.70 0.595 4 0.000 0.050 3476 921 2165 0 0 0 0 0 0 28.83 25.25 24.03

9007 0.86 166.7 65.2 5.5 684 9027 0.00 2.22 12.02 0.545 6 0.000 0.053 3476 2324 2114 0 0 0 0 0 0 28.83 25.30 23.98

9333 0.86 166.7 42.0 7.7 747 9340 0.00 2.30 0.00 0.000 4 0.000 0.064 3476 3734 2109 0 0 0 0 0 0 28.83 25.04 28.83

9410 0.86 166.7 35.7 9.0 761 9417 0.00 2.22 0.00 0.000 6 0.000 0.045 3487 2324 2108 0 0 0 0 0 0 28.83 25.33 28.83

9724 0.86 181.9 14.0 5.2 822 9743 0.00 2.40 13.55 0.529 4 0.000 0.063 3487 3737 2051 0 0 0 0 0 0 28.83 25.29 24.17

9752 0.87 190.8 12.3 6.0 826 9770 0.00 2.25 8.85 0.493 6 0.000 0.045 3498 2320 2015 0 0 0 0 0 0 28.83 25.51 24.07

9928 end climb: SURFACE_DEPTH_REACHED

state 9928 begin surface coast

10030 end surface coast: CONTROL_FINISHED_OK

state 10030 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	854	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	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	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	-1590060.2	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3195	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0031000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	220413,085909,4749.285,-12515.264,36,4.8,56,18.7	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	2.07	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-76.4	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	220413,090513,4749.261,-12515.243,14,1.9,14,18.7	MHEAD_RNG_PITCHd_Wd	297.7,627,-25.3,-7.021,-28.65
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.2,1.024029	_10V_AH	9.8,87.460
SM_CCo	10050,78.05,0.470,4,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	1.89,8.77,0.17,78.05,0.030,0.076,0.470,104,2194,1570,-9.47,1.24,300.00,0,0,0,0,4,0,25.77,25.87,23.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12521.07,220413,060630	MEM	296780
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46976,880
HUMID	48.38	CAP_FILE_SIZE	99293,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,187076608
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	CURRENT	0.112,155.1,1
_24V_AH	23.4,117.502	GPS	220413,115659,4749.111,-12515.791,66,1.6,72,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	217	113.24	SBE_CT	603	24	338.67
Roll_motor	87	76	156.45	SBE_O2	571	19	254.19
VBD_pump_during_apogee	244	845	4836.36	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	78	470	859.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.16	nil	0	0	0.00
Iridium_during_connect	35	160	133.26	nil	0	0	0.00
Iridium_during_xfer	168	223	878.88	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.58
TT8	2222	19	431.31
LPSleep	5899	2	126.61
TT8_Active	505	19	98.01
TT8_Sampling	1628	39	635.17
TT8_CF8	274	45	123.22
TT8_Kalman	0	0	0.00
Analog_circuits	1248	12	146.86
GPS_charging	0	0	0.00
Compass	1394	15	204.94
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	14	begin dive
17	-0.81	-41.3	0.0	0.0	0	69	0.00	0.00	-49.53	0.000	2	0.000	0.000	112	2203	2675	0	0	0	0	0	0	28.83	28.83	28.83
73	-0.82	-72.8	3.2	-3.3	9	99	11.25	2.35	-9.02	0.000	4	0.217	0.067	2916	3620	3094	0	0	0	0	0	0	24.56	25.33	26.15
147	-0.82	-72.8	25.6	-25.6	22	153	0.00	2.22	0.00	0.000	6	0.000	0.041	2915	2200	3096	0	0	0	0	0	0	28.83	25.42	28.83
460	-0.82	-72.8	95.4	-19.3	83	465	0.00	0.00	0.00	0.000	6	0.000	0.000	2915	2194	3097	0	0	0	0	0	0	28.83	28.83	28.83
778	-0.82	-72.8	149.5	-15.7	122	787	0.00	2.25	0.00	0.000	4	0.000	0.049	2915	800	3097	0	0	0	0	0	0	28.83	25.08	28.83
978	-0.82	-72.8	182.1	-15.8	142	987	0.00	2.28	0.00	0.000	6	0.000	0.049	2905	2200	3098	0	0	0	0	0	0	28.83	25.08	28.83
1295	-0.82	-72.8	234.2	-15.9	160	1299	0.00	2.25	0.00	0.000	4	0.000	0.048	2905	798	3098	0	0	0	0	0	0	28.83	25.06	28.83
1394	-0.82	-72.8	249.8	-15.4	165	1400	0.10	2.25	0.00	0.000	6	0.156	0.048	2923	2193	3098	0	0	0	0	0	0	24.65	25.04	28.83
1714	-0.82	-72.8	294.7	-14.0	181	1719	0.00	2.25	0.00	0.000	4	0.000	0.048	2923	797	3098	0	0	0	0	0	0	28.83	25.02	28.83
1783	-0.82	-72.8	303.0	-13.8	184	1792	0.00	2.30	0.00	0.000	6	0.000	0.049	2915	2205	3098	0	0	0	0	0	0	28.83	25.00	28.83
2093	-0.82	-72.8	348.8	-15.2	200	2099	0.00	2.30	0.00	0.000	4	0.000	0.048	2915	787	3098	0	0	0	0	0	0	28.83	24.99	28.83
2133	-0.82	-72.8	354.9	-15.1	202	2139	0.00	2.33	0.00	0.000	6	0.000	0.048	2903	2213	3098	0	0	0	0	0	0	28.83	25.00	28.83
2465	-0.82	-72.8	406.0	-15.3	218	2469	0.00	2.33	0.00	0.000	4	0.000	0.061	2893	3604	3098	0	0	0	0	0	0	28.83	24.73	28.83
2562	-0.82	-72.8	419.8	-15.3	221	2567	0.15	2.28	0.00	0.000	6	0.162	0.042	2929	2197	3097	0	0	0	0	0	0	24.77	25.19	28.83
2875	-0.82	-72.8	459.8	-12.9	232	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2190	3098	0	0	0	0	0	0	28.83	28.83	28.83
3054	end dive: TARGET_DEPTH_EXCEEDED
state	3054	begin apogee
3061	-0.22	0.0	483.7	-13.5	238	3131	0.60	0.00	64.97	0.845	6	0.125	0.000	3118	2339	2793	0	0	0	0	0	0	24.47	28.83	23.60
3132	end apogee: CONTROL_FINISHED_OK
state	3132	begin climb
3135	0.82	72.8	488.0	0.0	240	3206	1.00	0.00	67.45	0.807	6	0.077	0.000	3459	2339	2497	0	0	0	0	0	0	24.75	28.83	23.39
3506	0.82	72.8	467.4	7.6	253	3511	0.00	2.30	0.00	0.000	4	0.000	0.063	3459	3719	2489	0	0	0	0	0	0	28.83	25.27	28.83
3746	0.82	72.8	446.0	8.7	261	3750	0.00	2.25	0.00	0.000	6	0.000	0.045	3470	2325	2487	0	0	0	0	0	0	28.83	25.44	28.83
4075	0.82	72.8	418.6	8.3	272	4080	0.00	2.38	0.00	0.000	4	0.000	0.063	3471	3736	2486	0	0	0	0	0	0	28.83	25.05	28.83
4226	0.82	72.8	405.6	8.7	277	4230	0.00	2.28	0.00	0.000	6	0.000	0.046	3482	2326	2485	0	0	0	0	0	0	28.83	25.34	28.83
4535	0.82	72.8	380.1	8.0	291	4536	0.00	0.00	0.00	0.000	6	0.000	0.000	3482	2325	2485	0	0	0	0	0	0	28.83	28.83	28.83
4837	0.82	72.8	357.4	7.0	306	4841	0.00	2.33	0.00	0.000	4	0.000	0.064	3482	3730	2484	0	0	0	0	0	0	28.83	24.89	28.83
5075	0.82	72.8	340.1	7.4	318	5081	0.10	2.28	0.00	0.000	6	0.162	0.046	3465	2329	2483	0	0	0	0	0	0	24.79	25.23	28.83
5396	0.83	83.9	321.7	5.7	334	5414	0.00	2.35	9.25	0.670	4	0.000	0.064	3464	3719	2450	0	0	0	0	0	0	28.83	25.23	24.04
5648	0.83	83.9	300.8	9.1	346	5654	0.00	2.22	0.00	0.000	6	0.000	0.047	3474	2313	2449	0	0	0	0	0	0	28.83	25.37	28.83
5955	0.83	83.9	275.8	7.5	362	5961	0.00	2.38	0.00	0.000	4	0.000	0.064	3474	3723	2449	0	0	0	0	0	0	28.83	24.89	28.83
6117	0.83	83.9	261.4	9.5	370	6121	0.00	2.22	0.00	0.000	6	0.000	0.046	3485	2326	2448	0	0	0	0	0	0	28.83	25.22	28.83
6435	0.83	83.9	233.5	8.6	386	6437	0.00	0.00	0.00	0.000	6	0.000	0.000	3485	2324	2448	0	0	0	0	0	0	28.83	28.83	28.83
6736	0.83	83.9	207.3	8.4	401	6741	0.00	2.30	0.00	0.000	4	0.000	0.053	3496	920	2448	0	0	0	0	0	0	28.83	24.93	28.83
6763	0.83	83.9	205.7	8.3	402	6768	0.15	2.30	0.00	0.000	6	0.166	0.053	3461	2313	2448	0	0	0	0	0	0	24.60	24.94	28.83
7070	0.83	83.9	182.2	7.3	421	7080	0.00	2.38	0.00	0.000	4	0.000	0.063	3460	3730	2447	0	0	0	0	0	0	28.83	24.72	28.83
7311	0.83	84.1	163.5	7.0	445	7319	0.00	2.28	0.00	0.000	6	0.000	0.046	3469	2325	2447	0	0	0	0	0	0	28.83	25.13	28.83
7621	0.83	96.3	146.3	5.6	466	7641	0.00	2.33	12.40	0.605	4	0.000	0.063	3470	3735	2400	0	0	0	0	0	0	28.83	25.10	24.08
7691	0.83	104.8	142.3	6.0	473	7709	0.00	2.28	9.40	0.578	6	0.000	0.046	3481	2326	2365	0	0	0	0	0	0	28.83	25.41	24.01
8012	0.83	104.8	120.6	7.2	495	8019	0.00	2.33	0.00	0.000	4	0.000	0.063	3481	3743	2363	0	0	0	0	0	0	28.83	25.01	28.83
8099	0.83	104.8	113.1	9.6	511	8105	0.00	2.25	0.00	0.000	6	0.000	0.047	3493	2320	2363	0	0	0	0	0	0	28.83	25.29	28.83
8410	0.84	108.9	91.7	6.5	572	8424	0.00	2.30	4.43	0.444	4	0.000	0.052	3504	920	2350	0	0	0	0	0	0	28.83	25.32	24.14
8571	0.84	114.0	80.8	6.4	602	8585	0.15	2.25	6.47	0.506	6	0.167	0.053	3467	2336	2329	0	0	0	0	0	0	24.82	25.13	24.15
8893	0.85	153.6	70.4	2.4	664	8936	0.00	2.28	35.70	0.595	4	0.000	0.050	3476	921	2165	0	0	0	0	0	0	28.83	25.25	24.03
9007	0.86	166.7	65.2	5.5	684	9027	0.00	2.22	12.02	0.545	6	0.000	0.053	3476	2324	2114	0	0	0	0	0	0	28.83	25.30	23.98
9333	0.86	166.7	42.0	7.7	747	9340	0.00	2.30	0.00	0.000	4	0.000	0.064	3476	3734	2109	0	0	0	0	0	0	28.83	25.04	28.83
9410	0.86	166.7	35.7	9.0	761	9417	0.00	2.22	0.00	0.000	6	0.000	0.045	3487	2324	2108	0	0	0	0	0	0	28.83	25.33	28.83
9724	0.86	181.9	14.0	5.2	822	9743	0.00	2.40	13.55	0.529	4	0.000	0.063	3487	3737	2051	0	0	0	0	0	0	28.83	25.29	24.17
9752	0.87	190.8	12.3	6.0	826	9770	0.00	2.25	8.85	0.493	6	0.000	0.045	3498	2320	2015	0	0	0	0	0	0	28.83	25.51	24.07
9928	end climb: SURFACE_DEPTH_REACHED
state	9928	begin surface coast
10030	end surface coast: CONTROL_FINISHED_OK
state	10030	begin surface