Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 130 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PULSE 4

MISSION 25 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

DIVE 130 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 75 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 46 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_TGT 990 SM_CC 375 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_ABORT 1030 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 VBD_MIN 448 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MAX 4001 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 C_VBD 3009 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 86

T_DIVE 410 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 430 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 20 DBDW 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -193669.25 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 AH0_24V 150 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 108 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 MINV_24V 22 SEABIRD_T_G 0.0042902208

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 SEABIRD_T_H 0.00062879291

T_WATCHDOG 10 PITCH_MIN 350 FG_AHR_10V 0 SEABIRD_T_I 2.3436274e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_24V 0 SEABIRD_T_J 2.4509632e-06

APOGEE_PITCH -5 C_PITCH 3215 PHONE_SUPPLY -2 SEABIRD_C_G -9.8955164

MAX_BUOY 110 PITCH_DBAND 0.1 PRESSURE_YINT -21.975828 SEABIRD_C_H 1.1345812

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_C_I -0.0014690319

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.0002024868

SPEED_FACTOR 1 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 51925 PITCH_AD_RATE 150 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITPROFILE 1.0

KALMAN_USE 2 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0020999999 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 0 PM_NDIVE 14.0

HD_B 0.0116 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HD_C 9.4299997e-07 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 10

HEADING -1 C_ROLL_CLIMB 2025 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SIM_PITCH 0

AH0_10V 108 D_SURF 4 PITCH_DBAND 0.1 SIM_W 0

AH0_24V 150 D_TGT 990 PITCH_GAIN 20 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3700 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 350 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_TIMEOUT 20 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.003 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FILEMGR 0 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PM_NDIVE 14.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PM_PROFILE 1.0 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 HD_B 0.0116 PM_XMITPROFILE 1.0 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.4299997e-07 PM_XMITRAW 0.0 T_BOOST 5

CALL_TRIES 5 HEADING -1 PRESSURE_SLOPE 0.0001161151 T_DIVE 410

CALL_WAIT 60 HEAD_ERRBAND 10 PRESSURE_YINT -21.975828 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 108 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -193669.25

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_MISSION 430

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 53 RELAUNCH 1 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE2 86 RHO 1.0275 T_TURN 225

C_PITCH 3215 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERS 3 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_VBD 3009 MASS 51925 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 110 ROLL_MAX 3598 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 9.5 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 22 ROLL_MIN 294 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 25 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 R_PORT_OVSHOOT 75 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 46 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 163 SC_PROFILE 3.0 VBD_MIN 448

DEVICE6 -1 N_DIVES 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 130 N_FILEKB 8 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1030 N_GPS 20 SEABIRD_C_G -9.8955164 VBD_TIMEOUT 720

D_BOOST 20 N_NOCOMM 1 SEABIRD_C_H 1.1345812 W_ADJ_DBAND 0

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_I -0.0014690319 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_J 0.0002024868 XPDR_INHIBIT 90

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_T_G 0.0042902208 XPDR_VALID 5

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_T_H 0.00062879291

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.3436274e-05

D_PITCH 0 PITCH_AD_RATE 150 SEABIRD_T_J 2.4509632e-06

Pre-dive calculations and measurements:

GPS1 151013,212703,4750.129,-12513.960,38,1.2,41,17.2 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151013,213213,4750.115,-12513.964,17,1.0,18,17.2 MHEAD_RNG_PITCHd_Wd 243.7,162946,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 416

Post-dive calculations and measurements:

FINISH 1.6,1.001299 _24V_AH 24.4,15.052

SM_CCo 7317,82.88,0.059,0,0,1479,375.06 _10V_AH 9.6,21.590

SM_GC 2.49,8.57,0.35,82.88,0.041,0.053,0.059,334,2305,1479,-8.92,-1.58,375.06,0,0,0,0,0,0,26.63,26.65,26.49 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12435.63,151013,191918 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 258736

HUMID 56.89 DATA_FILE_SIZE 13460,439

INTERNAL_PRESSURE 9.04332 CAP_FILE_SIZE 105427,0

TCM_TEMP 18.30 CFSIZE 260034560,231956480

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

SC_FREEKB 3896416 CURRENT 0.113,173.1,1

PM_FREEKB 4640392 GPS 151013,233701,4749.617,-12515.069,15,1.7,15,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 233 117.85 nil 0 0 0.00

Roll_motor 57 60 84.13 nil 0 0 0.00

VBD_pump_during_apogee 292 703 5027.74 nil 0 0 0.00

VBD_pump_during_surface 82 58 119.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 7291 4 887.72

Iridium_during_xfer 160 123 484.65 PMAR 176 9 41.88

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 29 5.48

TT8 1297 11 146.40

LPSleep 4391 2 92.32

TT8_Active 450 11 50.84

TT8_Sampling 1351 38 502.10

TT8_CF8 227 49 107.63

TT8_Kalman 0 0 0.00

Analog_circuits 1361 15 208.69

GPS_charging 0 0 0.00

Compass 944 7 67.91

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.11 -107.1 332 2310 1544 1384 0.0 0.0 0 71 0.00 0.00 -41.47 0.000 16386 0.000 0.000 332 2310 2569 2619 2520 0 0 0 0 0 0 28.83 28.83 28.83

75 -1.11 -107.1 333 2310 2623 2525 3.0 -2.0 7 125 9.70 2.03 -29.00 0.000 18692 0.233 0.060 2842 3596 3448 3494 3403 0 0 0 0 0 0 25.80 26.08 26.37

271 -1.11 -107.1 2842 3596 3500 3410 32.3 -18.7 38 283 0.00 1.88 0.00 0.000 1030 0.000 0.026 2850 2278 3455 3501 3410 0 0 0 0 0 0 28.83 26.28 28.83

591 -1.11 -107.1 2849 2277 3507 3414 77.3 -12.6 60 602 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 2277 3460 3507 3414 0 0 0 0 0 0 28.83 28.83 28.83

891 -1.11 -107.1 2849 2277 3509 3415 115.5 -11.4 75 902 0.00 2.03 0.00 0.000 516 0.000 0.031 2850 911 3462 3509 3415 0 0 0 0 0 0 28.83 26.49 28.83

982 -1.11 -107.1 2850 912 3510 3415 126.1 -11.9 79 993 0.00 2.10 0.00 0.000 1030 0.000 0.031 2843 2316 3462 3509 3415 0 0 0 0 0 0 28.83 26.51 28.83

1312 -1.11 -107.1 2843 2316 3509 3416 167.0 -12.0 95 1323 0.00 1.90 0.00 0.000 260 0.000 0.044 2833 3582 3461 3509 3414 0 0 0 0 0 0 28.83 26.55 28.83

1376 -1.11 -107.1 2833 3582 3509 3415 173.2 -12.4 97 1388 0.00 1.80 0.00 0.000 1030 0.000 0.026 2834 2295 3462 3509 3415 0 0 0 0 0 0 28.83 26.63 28.83

1682 -1.11 -107.1 2833 2295 3508 3415 210.6 -11.1 113 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2295 3461 3508 3415 0 0 0 0 0 0 28.83 28.83 28.83

1981 -1.11 -107.1 2833 2295 3508 3415 245.0 -11.1 128 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2295 3461 3508 3415 0 0 0 0 0 0 28.83 28.83 28.83

2282 -1.11 -107.1 2833 2295 3507 3415 279.5 -11.7 143 2292 0.00 2.03 0.00 0.000 516 0.000 0.031 2833 914 3461 3507 3415 0 0 0 0 0 0 28.83 26.67 28.83

2355 -1.11 -107.1 2833 914 3507 3415 287.6 -11.9 146 2366 0.12 2.10 0.00 0.000 3078 0.175 0.032 2856 2311 3461 3507 3415 0 0 0 0 0 0 26.50 26.68 28.83

2680 -1.11 -107.1 2856 2311 3505 3415 324.1 -11.5 162 2691 0.00 1.90 0.00 0.000 260 0.000 0.045 2849 3589 3460 3505 3415 0 0 0 0 0 0 28.83 26.67 28.83

2784 -1.11 -107.1 2848 3589 3505 3415 335.2 -12.3 166 2796 0.00 1.80 0.00 0.000 1030 0.000 0.027 2848 2302 3460 3505 3415 0 0 0 0 0 0 28.83 26.74 28.83

3089 -1.11 -107.1 2848 2302 3504 3414 372.8 -11.2 182 3101 0.00 1.92 0.00 0.000 260 0.000 0.045 2839 3587 3460 3506 3414 0 0 0 0 0 0 28.83 26.68 28.83

3153 -1.11 -107.1 2839 3587 3504 3414 378.6 -11.5 184 3165 0.00 1.80 0.00 0.000 1030 0.000 0.027 2839 2296 3459 3504 3414 0 0 0 0 0 0 28.83 26.75 28.83

3459 -1.11 -107.1 2838 2296 3504 3414 412.6 -9.7 200 3470 0.00 1.92 0.00 0.000 260 0.000 0.044 2829 3593 3459 3504 3414 0 0 0 0 0 0 28.83 26.70 28.83

3503 -1.11 -107.1 2829 3593 3503 3414 415.7 -9.9 201 3514 0.00 1.80 0.00 0.000 1030 0.000 0.027 2829 2301 3458 3503 3414 0 0 0 0 0 0 28.83 26.77 28.83

3526 end dive: TARGET_DEPTH_EXCEEDED

state 3526 begin apogee

3533 -0.25 0.0 2829 2027 3503 3414 420.1 -10.5 203 3680 0.93 0.00 132.00 0.704 10246 0.138 0.000 3130 2027 3003 3097 2909 0 0 0 0 0 0 26.54 28.83 24.62

3682 end apogee: CONTROL_FINISHED_OK

state 3682 begin climb

3684 1.11 107.1 3130 2027 3094 2905 423.9 0.0 210 3823 1.25 0.00 127.60 0.656 10758 0.075 0.000 3573 2026 2571 2674 2469 0 0 0 0 0 0 25.37 28.83 24.42

4114 1.11 107.1 3573 2026 2652 2453 375.1 13.5 232 4125 0.00 2.17 0.00 0.000 260 0.000 0.042 3570 3425 2553 2652 2454 0 0 0 0 0 0 28.83 25.97 28.83

4138 1.11 107.1 3570 3425 2651 2453 375.1 13.5 232 4150 0.00 2.05 0.00 0.000 1030 0.000 0.026 3577 2031 2552 2651 2453 0 0 0 0 0 0 28.83 26.06 28.83

4444 1.11 107.1 3577 2031 2649 2451 332.1 12.2 248 4454 0.00 0.00 0.00 0.000 6 0.000 0.000 3577 2031 2550 2649 2451 0 0 0 0 0 0 28.83 28.83 28.83

4743 1.11 107.1 3577 2031 2646 2450 296.4 11.7 263 4754 0.00 2.15 0.00 0.000 260 0.000 0.041 3570 3432 2548 2646 2450 0 0 0 0 0 0 28.83 26.37 28.83

4797 1.11 107.1 3570 3432 2647 2449 290.1 12.2 265 4808 0.00 2.05 0.00 0.000 1030 0.000 0.026 3577 2025 2547 2646 2449 0 0 0 0 0 0 28.83 26.45 28.83

5121 1.11 107.1 3577 2025 2644 2448 248.9 12.7 281 5132 0.00 2.10 0.00 0.000 516 0.000 0.036 3588 633 2546 2644 2448 0 0 0 0 0 0 28.83 26.48 28.83

5292 1.11 107.1 3587 633 2643 2448 226.3 13.5 289 5303 0.00 2.10 0.00 0.000 1030 0.000 0.031 3582 2024 2545 2643 2448 0 0 0 0 0 0 28.83 26.53 28.83

5621 1.11 107.1 3581 2024 2642 2447 181.4 13.6 305 5632 0.00 2.12 0.00 0.000 260 0.000 0.044 3582 3430 2544 2641 2447 0 0 0 0 0 0 28.83 26.55 28.83

5695 1.11 107.1 3581 3430 2641 2446 171.5 14.3 308 5706 0.00 2.05 0.00 0.000 1030 0.000 0.026 3589 2009 2544 2641 2447 0 0 0 0 0 0 28.83 26.63 28.83

6019 1.11 107.1 3589 2009 2640 2446 129.1 12.3 324 6030 0.00 0.00 0.00 0.000 6 0.000 0.000 3589 2009 2543 2640 2446 0 0 0 0 0 0 28.83 28.83 28.83

6319 1.11 107.1 3589 2009 2640 2446 89.4 12.7 339 6330 0.00 2.08 0.00 0.000 516 0.000 0.036 3598 628 2543 2640 2446 0 0 0 0 0 0 28.83 26.65 28.83

6414 1.11 107.1 2816 627 2583 2436 79.6 10.9 343 6425 0.00 2.10 0.00 0.000 1030 0.000 0.031 3593 2025 2542 2639 2446 0 0 0 0 0 0 28.83 26.66 28.83

6728 1.11 107.1 3593 2024 2640 2446 46.8 10.7 360 6739 0.00 2.10 0.00 0.000 260 0.000 0.043 3592 3433 2543 2640 2446 0 0 0 0 0 0 28.83 26.65 28.83

6772 1.11 107.1 3591 3433 2640 2445 42.9 10.0 363 6784 0.00 2.03 0.00 0.000 1030 0.000 0.026 3598 2024 2542 2640 2445 0 0 0 0 0 0 28.83 26.72 28.83

7084 1.22 144.7 3598 2024 2640 2444 18.6 6.2 403 7109 0.00 2.15 14.90 0.096 8708 0.000 0.035 3609 628 2416 2515 2318 0 0 0 0 0 0 28.83 26.66 26.54

7134 1.34 182.8 2816 627 2453 2309 15.8 6.1 410 7165 0.12 2.12 18.27 0.087 11270 0.101 0.031 3654 2037 2262 2366 2159 0 0 0 0 0 0 26.62 26.67 26.53

7256 end climb: SURFACE_DEPTH_REACHED

state 7257 begin surface coast

7295 end surface coast: CONTROL_FINISHED_OK

state 7295 begin surface

ID	108	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PULSE	4
MISSION	25	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
DIVE	130	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	75	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	46	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_TGT	990	SM_CC	375	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_ABORT	1030	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	VBD_MIN	448	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MAX	4001	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	C_VBD	3009	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	86
T_DIVE	410	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	430	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	20	DBDW	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-193669.25	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	AH0_24V	150	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	108	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	MINV_24V	22	SEABIRD_T_G	0.0042902208
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	SEABIRD_T_H	0.00062879291
T_WATCHDOG	10	PITCH_MIN	350	FG_AHR_10V	0	SEABIRD_T_I	2.3436274e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_24V	0	SEABIRD_T_J	2.4509632e-06
APOGEE_PITCH	-5	C_PITCH	3215	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8955164
MAX_BUOY	110	PITCH_DBAND	0.1	PRESSURE_YINT	-21.975828	SEABIRD_C_H	1.1345812
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_C_I	-0.0014690319
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.0002024868
SPEED_FACTOR	1	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	51925	PITCH_AD_RATE	150	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITPROFILE	1.0
KALMAN_USE	2	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0020999999	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	0	PM_NDIVE	14.0
HD_B	0.0116	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HD_C	9.4299997e-07	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	10
HEADING	-1	C_ROLL_CLIMB	2025	ALTIM_FREQUENCY	13

GPS1	151013,212703,4750.129,-12513.960,38,1.2,41,17.2	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151013,213213,4750.115,-12513.964,17,1.0,18,17.2	MHEAD_RNG_PITCHd_Wd	243.7,162946,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	416

FINISH	1.6,1.001299	_24V_AH	24.4,15.052
SM_CCo	7317,82.88,0.059,0,0,1479,375.06	_10V_AH	9.6,21.590
SM_GC	2.49,8.57,0.35,82.88,0.041,0.053,0.059,334,2305,1479,-8.92,-1.58,375.06,0,0,0,0,0,0,26.63,26.65,26.49	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12435.63,151013,191918	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	258736
HUMID	56.89	DATA_FILE_SIZE	13460,439
INTERNAL_PRESSURE	9.04332	CAP_FILE_SIZE	105427,0
TCM_TEMP	18.30	CFSIZE	260034560,231956480
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3896416	CURRENT	0.113,173.1,1
PM_FREEKB	4640392	GPS	151013,233701,4749.617,-12515.069,15,1.7,15,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	233	117.85	nil	0	0	0.00
Roll_motor	57	60	84.13	nil	0	0	0.00
VBD_pump_during_apogee	292	703	5027.74	nil	0	0	0.00
VBD_pump_during_surface	82	58	119.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	7291	4	887.72
Iridium_during_xfer	160	123	484.65	PMAR	176	9	41.88
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	29	5.48
TT8	1297	11	146.40
LPSleep	4391	2	92.32
TT8_Active	450	11	50.84
TT8_Sampling	1351	38	502.10
TT8_CF8	227	49	107.63
TT8_Kalman	0	0	0.00
Analog_circuits	1361	15	208.69
GPS_charging	0	0	0.00
Compass	944	7	67.91
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.11	-107.1	332	2310	1544	1384	0.0	0.0	0	71	0.00	0.00	-41.47	0.000	16386	0.000	0.000	332	2310	2569	2619	2520	0	0	0	0	0	0	28.83	28.83	28.83
75	-1.11	-107.1	333	2310	2623	2525	3.0	-2.0	7	125	9.70	2.03	-29.00	0.000	18692	0.233	0.060	2842	3596	3448	3494	3403	0	0	0	0	0	0	25.80	26.08	26.37
271	-1.11	-107.1	2842	3596	3500	3410	32.3	-18.7	38	283	0.00	1.88	0.00	0.000	1030	0.000	0.026	2850	2278	3455	3501	3410	0	0	0	0	0	0	28.83	26.28	28.83
591	-1.11	-107.1	2849	2277	3507	3414	77.3	-12.6	60	602	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	2277	3460	3507	3414	0	0	0	0	0	0	28.83	28.83	28.83
891	-1.11	-107.1	2849	2277	3509	3415	115.5	-11.4	75	902	0.00	2.03	0.00	0.000	516	0.000	0.031	2850	911	3462	3509	3415	0	0	0	0	0	0	28.83	26.49	28.83
982	-1.11	-107.1	2850	912	3510	3415	126.1	-11.9	79	993	0.00	2.10	0.00	0.000	1030	0.000	0.031	2843	2316	3462	3509	3415	0	0	0	0	0	0	28.83	26.51	28.83
1312	-1.11	-107.1	2843	2316	3509	3416	167.0	-12.0	95	1323	0.00	1.90	0.00	0.000	260	0.000	0.044	2833	3582	3461	3509	3414	0	0	0	0	0	0	28.83	26.55	28.83
1376	-1.11	-107.1	2833	3582	3509	3415	173.2	-12.4	97	1388	0.00	1.80	0.00	0.000	1030	0.000	0.026	2834	2295	3462	3509	3415	0	0	0	0	0	0	28.83	26.63	28.83
1682	-1.11	-107.1	2833	2295	3508	3415	210.6	-11.1	113	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2295	3461	3508	3415	0	0	0	0	0	0	28.83	28.83	28.83
1981	-1.11	-107.1	2833	2295	3508	3415	245.0	-11.1	128	1992	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2295	3461	3508	3415	0	0	0	0	0	0	28.83	28.83	28.83
2282	-1.11	-107.1	2833	2295	3507	3415	279.5	-11.7	143	2292	0.00	2.03	0.00	0.000	516	0.000	0.031	2833	914	3461	3507	3415	0	0	0	0	0	0	28.83	26.67	28.83
2355	-1.11	-107.1	2833	914	3507	3415	287.6	-11.9	146	2366	0.12	2.10	0.00	0.000	3078	0.175	0.032	2856	2311	3461	3507	3415	0	0	0	0	0	0	26.50	26.68	28.83
2680	-1.11	-107.1	2856	2311	3505	3415	324.1	-11.5	162	2691	0.00	1.90	0.00	0.000	260	0.000	0.045	2849	3589	3460	3505	3415	0	0	0	0	0	0	28.83	26.67	28.83
2784	-1.11	-107.1	2848	3589	3505	3415	335.2	-12.3	166	2796	0.00	1.80	0.00	0.000	1030	0.000	0.027	2848	2302	3460	3505	3415	0	0	0	0	0	0	28.83	26.74	28.83
3089	-1.11	-107.1	2848	2302	3504	3414	372.8	-11.2	182	3101	0.00	1.92	0.00	0.000	260	0.000	0.045	2839	3587	3460	3506	3414	0	0	0	0	0	0	28.83	26.68	28.83
3153	-1.11	-107.1	2839	3587	3504	3414	378.6	-11.5	184	3165	0.00	1.80	0.00	0.000	1030	0.000	0.027	2839	2296	3459	3504	3414	0	0	0	0	0	0	28.83	26.75	28.83
3459	-1.11	-107.1	2838	2296	3504	3414	412.6	-9.7	200	3470	0.00	1.92	0.00	0.000	260	0.000	0.044	2829	3593	3459	3504	3414	0	0	0	0	0	0	28.83	26.70	28.83
3503	-1.11	-107.1	2829	3593	3503	3414	415.7	-9.9	201	3514	0.00	1.80	0.00	0.000	1030	0.000	0.027	2829	2301	3458	3503	3414	0	0	0	0	0	0	28.83	26.77	28.83
3526	end dive: TARGET_DEPTH_EXCEEDED
state	3526	begin apogee
3533	-0.25	0.0	2829	2027	3503	3414	420.1	-10.5	203	3680	0.93	0.00	132.00	0.704	10246	0.138	0.000	3130	2027	3003	3097	2909	0	0	0	0	0	0	26.54	28.83	24.62
3682	end apogee: CONTROL_FINISHED_OK
state	3682	begin climb
3684	1.11	107.1	3130	2027	3094	2905	423.9	0.0	210	3823	1.25	0.00	127.60	0.656	10758	0.075	0.000	3573	2026	2571	2674	2469	0	0	0	0	0	0	25.37	28.83	24.42
4114	1.11	107.1	3573	2026	2652	2453	375.1	13.5	232	4125	0.00	2.17	0.00	0.000	260	0.000	0.042	3570	3425	2553	2652	2454	0	0	0	0	0	0	28.83	25.97	28.83
4138	1.11	107.1	3570	3425	2651	2453	375.1	13.5	232	4150	0.00	2.05	0.00	0.000	1030	0.000	0.026	3577	2031	2552	2651	2453	0	0	0	0	0	0	28.83	26.06	28.83
4444	1.11	107.1	3577	2031	2649	2451	332.1	12.2	248	4454	0.00	0.00	0.00	0.000	6	0.000	0.000	3577	2031	2550	2649	2451	0	0	0	0	0	0	28.83	28.83	28.83
4743	1.11	107.1	3577	2031	2646	2450	296.4	11.7	263	4754	0.00	2.15	0.00	0.000	260	0.000	0.041	3570	3432	2548	2646	2450	0	0	0	0	0	0	28.83	26.37	28.83
4797	1.11	107.1	3570	3432	2647	2449	290.1	12.2	265	4808	0.00	2.05	0.00	0.000	1030	0.000	0.026	3577	2025	2547	2646	2449	0	0	0	0	0	0	28.83	26.45	28.83
5121	1.11	107.1	3577	2025	2644	2448	248.9	12.7	281	5132	0.00	2.10	0.00	0.000	516	0.000	0.036	3588	633	2546	2644	2448	0	0	0	0	0	0	28.83	26.48	28.83
5292	1.11	107.1	3587	633	2643	2448	226.3	13.5	289	5303	0.00	2.10	0.00	0.000	1030	0.000	0.031	3582	2024	2545	2643	2448	0	0	0	0	0	0	28.83	26.53	28.83
5621	1.11	107.1	3581	2024	2642	2447	181.4	13.6	305	5632	0.00	2.12	0.00	0.000	260	0.000	0.044	3582	3430	2544	2641	2447	0	0	0	0	0	0	28.83	26.55	28.83
5695	1.11	107.1	3581	3430	2641	2446	171.5	14.3	308	5706	0.00	2.05	0.00	0.000	1030	0.000	0.026	3589	2009	2544	2641	2447	0	0	0	0	0	0	28.83	26.63	28.83
6019	1.11	107.1	3589	2009	2640	2446	129.1	12.3	324	6030	0.00	0.00	0.00	0.000	6	0.000	0.000	3589	2009	2543	2640	2446	0	0	0	0	0	0	28.83	28.83	28.83
6319	1.11	107.1	3589	2009	2640	2446	89.4	12.7	339	6330	0.00	2.08	0.00	0.000	516	0.000	0.036	3598	628	2543	2640	2446	0	0	0	0	0	0	28.83	26.65	28.83
6414	1.11	107.1	2816	627	2583	2436	79.6	10.9	343	6425	0.00	2.10	0.00	0.000	1030	0.000	0.031	3593	2025	2542	2639	2446	0	0	0	0	0	0	28.83	26.66	28.83
6728	1.11	107.1	3593	2024	2640	2446	46.8	10.7	360	6739	0.00	2.10	0.00	0.000	260	0.000	0.043	3592	3433	2543	2640	2446	0	0	0	0	0	0	28.83	26.65	28.83
6772	1.11	107.1	3591	3433	2640	2445	42.9	10.0	363	6784	0.00	2.03	0.00	0.000	1030	0.000	0.026	3598	2024	2542	2640	2445	0	0	0	0	0	0	28.83	26.72	28.83
7084	1.22	144.7	3598	2024	2640	2444	18.6	6.2	403	7109	0.00	2.15	14.90	0.096	8708	0.000	0.035	3609	628	2416	2515	2318	0	0	0	0	0	0	28.83	26.66	26.54
7134	1.34	182.8	2816	627	2453	2309	15.8	6.1	410	7165	0.12	2.12	18.27	0.087	11270	0.101	0.031	3654	2037	2262	2366	2159	0	0	0	0	0	0	26.62	26.67	26.53
7256	end climb: SURFACE_DEPTH_REACHED
state	7257	begin surface coast
7295	end surface coast: CONTROL_FINISHED_OK
state	7295	begin surface