Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 296 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

DIVE 296 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 32 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 3

D_SURF 4 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_VALID 1

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_TGT 990 SM_CC 400 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1020 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.69999999

D_NO_BLEED 200 FILEMGR 0 VBD_MIN 470 DEEPGLIDER 0

D_BOOST 20 CALL_NDIVES 1 VBD_MAX 3900 MOTHERBOARD 4

T_BOOST 5 COMM_SEQ 0 C_VBD 2941 DEVICE1 -1

D_FINISH 0 PROTOCOL 8 VBD_DBAND 2 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00050000002 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_DIVE 450 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

T_MISSION 510 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN 225 T_GPS 5 W_ADJ_DBAND 2 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 N_GPS 100440 DBDW 0 COMPASS2_DEVICE 149

T_NO_W 120 T_RSLEEP 1 PITCH_W_GAIN 2 PHONE_DEVICE 48

T_LOITER 0 STROBE 0 PITCH_W_DBAND 0.5 GPS_DEVICE 64

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 100 MINV_24V 10 SIM_PITCH 0

D_OFFGRID 1000 PITCH_MAX 3850 MINV_10V 10 SEABIRD_T_G 0.0043979231

T_WATCHDOG 10 C_PITCH 3394 MAXI_24V 0.60000002 SEABIRD_T_H 0.00063691288

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.4734132e-05

APOGEE_PITCH -7 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 2.9167527e-06

MAX_BUOY 110 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -9.67243

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1076213

GLIDE_SLOPE 30 PITCH_GAIN 44 PRESSURE_YINT -164.55209 SEABIRD_C_I -0.0017588359

SPEED_FACTOR 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001068 SEABIRD_C_J 0.00021615655

RHO 1.0275 PITCH_AD_RATE 165 AD7714Ch0Gain 1 SC_RECORDABOVE 2000.0

MASS 53572 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MIN 440 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

KALMAN_USE 2 ROLL_MAX 4000 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 1.0

HD_A 0.0026964601 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099003203 C_ROLL_DIVE 1900 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_C 2.26204e-06 C_ROLL_CLIMB 2250 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

AD7714Ch0Gain 1 D_SURF 4 PITCH_AD_RATE 165 SEABIRD_T_H 0.00063691288

AH0_10V 0 D_TGT 990 PITCH_CNV 0.003125763 SEABIRD_T_I 2.4734132e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.9167527e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 44 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3850 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_MIN 100 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00050000002 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0026964601 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099003203 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -7 HD_C 2.26204e-06 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEADING -1 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEAD_ERRBAND 10 PM_XMITPROFILE 1.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAPDBG 0 PM_XMITRAW 0.0 T_ABORT 1440

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001068 T_BOOST 5

CAPUPLOAD 0 ID 187 PRESSURE_YINT -164.55209 T_DIVE 450

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 8 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RAFOS_CORR_THRESH 60 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 1

C_PITCH 3394 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2250 LOGGERS 3 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 1900 MASS 53572 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 110 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 10 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 10 ROLL_MAX 4000 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 8 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3900

DIVE 296 NOCOMM_ACTION 161 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 20 VBD_MIN 470

D_BOOST 20 N_FILEKB 4 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.67243 W_ADJ_DBAND 2

D_NO_BLEED 200 PHONE_DEVICE 48 SEABIRD_C_H 1.1076213 XPDR_DEVICE 24

D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017588359 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00021615655 XPDR_VALID 1

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043979231

Pre-dive calculations and measurements:

GPS1 310815,201656,4751.3696,-12512.9414,32,1.2,69,16.5,0.6,141.6,6,4.6 SPEED_LIMITS 0.127,0.207

_CALLS 3 TGT_NAME OFFSHORE

_XMS_NAKs 3 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.93 MHEAD_RNG_PITCHd_Wd 176.9,165661,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -77.6 D_GRID 280

GPS2 310815,203447,4751.4155,-12512.6738,1,1.3,3,16.5,1.0,277.6,6,10.0

Post-dive calculations and measurements:

FINISH 1.7,1.023624 _10V_AH 13.79,0.000

SM_CCo 6965,22.25,0.081,0,0,1309,400.08 FG_AHR_24Vo 0.000

SM_GC 1.36,9.90,0.62,22.25,0.061,0.097,0.081,93,1894,1309,-10.25,0.62,400.08,0,0,0,0,0,0,14.36,14.34,14.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12513.98,310815,202402 MEM 286424

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 13412,384

HUMID 50.55 CAP_FILE_SIZE 93295,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260034560,222666752

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

XPDR_PINGS 0 CURRENT 0.145,339.12,1

SC_FREEKB 3821088 GPS 310815,223303,4751.139,-12513.250,13,1.2,24,16.5,1.0,66.6,6,8.6

_24V_AH 12.88,80.098

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 360 115.67 nil 0 0 0.00

Roll_motor 57 107 79.21 nil 0 0 0.00

VBD_pump_during_apogee 321 1035 4282.54 nil 0 0 0.00

VBD_pump_during_surface 22 81 23.24 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 6974 7 682.94

Iridium_during_xfer 649 146 1221.58 PMAR 2956 8 341.48

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 15 1.10

TT8 886 10 132.84

LPSleep 4747 2 143.38

TT8_Active 471 10 70.71

TT8_Sampling 1411 29 576.03

TT8_CF8 537 35 263.76

TT8_Kalman 0 0 0.00

Analog_circuits 1651 11 264.23

GPS_charging 0 0 0.00

Compass 574 16 130.58

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

31 -0.39 -107.1 81 1882 1214 1410 0.0 0.0 0 110 0.00 0.00 -73.85 0.000 16390 0.000 0.000 78 1882 3377 3375 3380 0 0 0 0 0 0 14.50 12.88 14.50

117 -0.39 -107.1 83 1883 3377 3381 1.9 -2.1 2 135 14.00 0.00 0.00 0.000 2054 0.360 0.000 3259 1883 3378 3374 3382 0 0 0 0 0 0 14.00 14.35 14.31

304 -0.39 -107.1 3258 1883 3374 3392 46.9 -12.5 9 312 0.00 2.60 0.00 0.000 260 0.000 0.103 3259 3306 3383 3374 3393 0 0 0 0 0 0 14.55 14.21 14.57

445 -0.39 -107.1 3259 3306 3381 3393 64.2 -11.9 35 453 0.00 2.50 0.00 0.000 1030 0.000 0.092 3259 1914 3384 3374 3394 0 0 0 0 0 0 14.36 14.24 14.40

654 -0.39 -107.1 3259 1913 3374 3395 88.2 -10.8 45 657 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1911 3384 3374 3395 0 0 0 0 0 0 14.60 14.65 14.62

835 -0.39 -107.1 3259 1913 3374 3396 107.3 -10.5 51 838 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1913 3385 3374 3396 0 0 0 0 0 0 14.61 14.64 14.64

1014 -0.39 -107.1 3259 1914 3374 3395 124.9 -9.3 57 1017 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1913 3384 3373 3395 0 0 0 0 0 0 14.64 14.66 14.65

1194 -0.39 -107.1 3258 1913 3373 3391 139.7 -8.0 63 1198 0.00 0.00 0.00 0.000 6 0.000 0.000 3260 1913 3384 3373 3396 0 0 0 0 0 0 14.66 14.66 14.67

1375 -0.39 -107.1 3259 1913 3371 3396 154.1 -8.1 69 1383 0.00 2.58 0.00 0.000 516 0.000 0.106 3259 481 3384 3372 3396 0 0 0 0 0 0 14.66 14.26 14.68

1447 -0.39 -107.1 3258 481 3371 3395 161.1 -9.9 82 1455 0.00 2.50 0.00 0.000 1030 0.000 0.090 3259 1897 3383 3370 3396 0 0 0 0 0 0 14.35 14.23 14.41

1661 -0.39 -107.1 3259 1898 3369 3392 180.0 -9.1 93 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1898 3383 3370 3396 0 0 0 0 0 0 14.64 14.66 14.66

1841 -0.39 -107.1 3259 1898 3369 3400 197.2 -9.6 99 1845 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1898 3384 3372 3396 0 0 0 0 0 0 14.64 14.67 14.69

2021 -0.39 -107.1 3259 1898 3368 3396 215.6 -10.2 105 2028 0.00 2.55 0.00 0.000 516 0.000 0.104 3259 486 3382 3368 3396 0 0 0 0 0 0 14.66 14.26 14.68

2049 -0.39 -107.1 3259 486 3367 3396 218.7 -10.9 109 2056 0.00 2.50 0.00 0.000 1030 0.000 0.090 3259 1899 3387 3373 3401 0 0 0 0 0 0 14.42 14.29 14.46

2248 -0.39 -107.1 3259 1899 3366 3395 238.3 -9.5 117 2251 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 1901 3380 3365 3396 0 0 0 0 0 0 14.66 14.67 14.69

2457 -0.39 -107.1 3258 1901 3364 3395 257.0 -8.9 123 2466 0.00 2.55 0.00 0.000 260 0.000 0.102 3258 3319 3380 3364 3396 0 0 0 0 0 0 14.66 14.26 14.68

2517 -0.39 -107.1 3260 3318 3364 3396 262.2 -8.1 133 2524 0.00 2.55 0.00 0.000 1030 0.000 0.091 3259 1896 3379 3363 3396 0 0 0 0 0 0 14.43 14.30 14.46

2770 end dive: TARGET_DEPTH_EXCEEDED

state 2770 begin apogee

2782 -0.16 0.0 3260 2255 3362 3396 285.4 -9.0 139 2867 0.25 0.00 79.47 1.036 10246 0.180 0.000 3336 2255 2943 2886 3001 0 0 0 0 0 0 14.19 14.21 13.69

2870 end apogee: CONTROL_FINISHED_OK

state 2870 begin climb

2875 0.39 107.1 3337 2254 2882 2999 289.2 0.0 140 2965 0.55 0.00 80.93 1.012 10246 0.132 0.000 3518 2254 2502 2380 2625 0 0 0 0 0 0 14.15 14.02 13.54

3262 0.43 187.3 3518 2255 2374 2623 280.1 3.7 147 3329 0.00 0.00 59.33 1.004 8710 0.000 0.000 3518 2256 2173 2026 2320 0 0 0 0 0 0 14.50 14.14 13.64

3617 0.45 236.3 3518 2256 2025 2320 263.5 5.1 164 3663 0.00 0.00 37.70 0.988 8198 0.000 0.000 3518 2256 1977 1827 2128 0 0 0 0 0 0 14.54 14.24 13.75

3916 0.49 236.3 3518 2256 1827 2114 245.0 5.6 170 3926 0.00 0.00 0.00 0.000 6 0.000 0.000 3518 2256 1973 1828 2118 0 0 0 0 0 0 14.56 14.57 14.57

4097 0.50 236.3 3518 2255 1827 2118 233.4 6.6 176 4108 0.10 0.00 0.00 0.000 2054 0.122 0.000 3586 2256 1972 1827 2117 0 0 0 0 0 0 14.39 14.47 14.45

4275 0.50 236.3 3590 2256 1827 2116 215.2 10.9 182 4287 0.12 2.58 0.00 0.000 4612 0.214 0.103 3560 841 1972 1827 2117 0 0 0 0 0 0 14.23 14.28 14.33

4328 0.50 236.3 3560 841 1827 2115 209.9 10.1 190 4339 0.00 2.50 0.00 0.000 1030 0.000 0.092 3560 2247 1973 1830 2116 0 0 0 0 0 0 14.45 14.32 14.47

4545 0.50 236.3 3558 2246 1827 2115 190.6 9.2 200 4557 0.00 2.60 0.00 0.000 260 0.000 0.106 3560 3674 1971 1827 2115 0 0 0 0 0 0 14.66 14.26 14.68

4627 0.50 236.3 3560 3674 1827 2113 180.8 11.2 214 4639 0.00 2.58 0.00 0.000 1030 0.000 0.092 3569 2243 1973 1834 2113 0 0 0 0 0 0 14.46 14.34 14.50

4841 0.50 236.3 3569 2242 1828 2113 159.8 9.8 224 4853 0.00 2.53 0.00 0.000 516 0.000 0.107 3566 839 1971 1828 2114 0 0 0 0 0 0 14.67 14.31 14.69

4898 0.50 236.3 3569 839 1828 2112 154.1 9.6 233 4909 0.00 2.53 0.00 0.000 1030 0.000 0.091 3570 2248 1970 1828 2112 0 0 0 0 0 0 14.46 14.35 14.50

5106 0.50 236.3 3569 2247 1827 2113 133.3 10.4 242 5116 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2252 1971 1829 2113 0 0 0 0 0 0 14.68 14.69 14.69

5285 0.50 236.3 3569 2247 1827 2112 113.2 11.2 248 5297 0.00 2.62 0.00 0.000 260 0.000 0.107 3566 3681 1969 1827 2112 0 0 0 0 0 0 14.69 14.25 14.70

5402 0.50 236.3 3570 3680 1827 2111 99.6 10.5 268 5413 0.00 2.58 0.00 0.000 1030 0.000 0.094 3570 2255 1970 1829 2111 0 0 0 0 0 0 14.46 14.32 14.51

5619 0.50 236.3 3569 2255 1827 2111 80.9 8.4 278 5630 0.00 2.55 0.00 0.000 516 0.000 0.105 3570 840 1970 1827 2113 0 0 0 0 0 0 14.69 14.31 14.71

5696 0.50 236.3 3570 839 1828 2111 74.7 7.4 291 5707 0.00 2.53 0.00 0.000 1030 0.000 0.091 3570 2268 1969 1828 2111 0 0 0 0 0 0 14.41 14.26 14.45

5918 0.52 236.3 3569 2268 1834 2111 60.4 6.3 302 5929 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2265 1969 1828 2111 0 0 0 0 0 0 14.69 14.69 14.71

6095 0.54 236.3 3569 2268 1828 2111 48.3 6.6 308 6106 0.00 2.60 0.00 0.000 516 0.000 0.103 3570 840 1969 1828 2111 0 0 0 0 0 0 14.69 14.30 14.71

6191 0.54 236.3 3570 840 1828 2111 41.3 7.7 324 6202 0.00 2.50 0.00 0.000 1030 0.000 0.092 3570 2246 1967 1827 2108 0 0 0 0 0 0 14.44 14.28 14.50

6395 0.56 285.4 3570 2246 1828 2111 29.1 5.1 332 6437 0.00 0.00 34.45 0.747 8198 0.000 0.000 3570 2246 1775 1629 1922 0 0 0 0 0 0 14.69 14.43 14.00

6604 0.59 347.6 3569 2246 1627 1920 19.1 4.5 339 6643 0.00 2.58 29.12 0.165 8452 0.000 0.102 3570 3663 1524 1382 1667 0 0 0 0 0 0 14.61 14.25 14.13

6819 0.62 347.6 3570 3663 1384 1667 6.6 5.8 379 6831 0.00 2.55 0.00 0.000 1030 0.000 0.090 3570 2248 1526 1385 1667 0 0 0 0 0 0 14.40 14.27 14.43

6867 end climb: SURFACE_DEPTH_REACHED

state 6867 begin surface coast

6929 end surface coast: CONTROL_FINISHED_OK

state 6929 begin surface

ID	187	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
DIVE	296	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	32	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	3
D_SURF	4	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_VALID	1
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_TGT	990	SM_CC	400	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1020	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.69999999
D_NO_BLEED	200	FILEMGR	0	VBD_MIN	470	DEEPGLIDER	0
D_BOOST	20	CALL_NDIVES	1	VBD_MAX	3900	MOTHERBOARD	4
T_BOOST	5	COMM_SEQ	0	C_VBD	2941	DEVICE1	-1
D_FINISH	0	PROTOCOL	8	VBD_DBAND	2	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00050000002	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_DIVE	450	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
T_MISSION	510	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN	225	T_GPS	5	W_ADJ_DBAND	2	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	N_GPS	100440	DBDW	0	COMPASS2_DEVICE	149
T_NO_W	120	T_RSLEEP	1	PITCH_W_GAIN	2	PHONE_DEVICE	48
T_LOITER	0	STROBE	0	PITCH_W_DBAND	0.5	GPS_DEVICE	64
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	100	MINV_24V	10	SIM_PITCH	0
D_OFFGRID	1000	PITCH_MAX	3850	MINV_10V	10	SEABIRD_T_G	0.0043979231
T_WATCHDOG	10	C_PITCH	3394	MAXI_24V	0.60000002	SEABIRD_T_H	0.00063691288
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.4734132e-05
APOGEE_PITCH	-7	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	2.9167527e-06
MAX_BUOY	110	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-9.67243
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1076213
GLIDE_SLOPE	30	PITCH_GAIN	44	PRESSURE_YINT	-164.55209	SEABIRD_C_I	-0.0017588359
SPEED_FACTOR	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001068	SEABIRD_C_J	0.00021615655
RHO	1.0275	PITCH_AD_RATE	165	AD7714Ch0Gain	1	SC_RECORDABOVE	2000.0
MASS	53572	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MIN	440	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
KALMAN_USE	2	ROLL_MAX	4000	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	1.0
HD_A	0.0026964601	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099003203	C_ROLL_DIVE	1900	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_C	2.26204e-06	C_ROLL_CLIMB	2250	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0

GPS1	310815,201656,4751.3696,-12512.9414,32,1.2,69,16.5,0.6,141.6,6,4.6	SPEED_LIMITS	0.127,0.207
_CALLS	3	TGT_NAME	OFFSHORE
_XMS_NAKs	3	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.93	MHEAD_RNG_PITCHd_Wd	176.9,165661,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-77.6	D_GRID	280
GPS2	310815,203447,4751.4155,-12512.6738,1,1.3,3,16.5,1.0,277.6,6,10.0

FINISH	1.7,1.023624	_10V_AH	13.79,0.000
SM_CCo	6965,22.25,0.081,0,0,1309,400.08	FG_AHR_24Vo	0.000
SM_GC	1.36,9.90,0.62,22.25,0.061,0.097,0.081,93,1894,1309,-10.25,0.62,400.08,0,0,0,0,0,0,14.36,14.34,14.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12513.98,310815,202402	MEM	286424
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	13412,384
HUMID	50.55	CAP_FILE_SIZE	93295,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260034560,222666752
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.145,339.12,1
SC_FREEKB	3821088	GPS	310815,223303,4751.139,-12513.250,13,1.2,24,16.5,1.0,66.6,6,8.6
_24V_AH	12.88,80.098

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	360	115.67	nil	0	0	0.00
Roll_motor	57	107	79.21	nil	0	0	0.00
VBD_pump_during_apogee	321	1035	4282.54	nil	0	0	0.00
VBD_pump_during_surface	22	81	23.24	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	6974	7	682.94
Iridium_during_xfer	649	146	1221.58	PMAR	2956	8	341.48
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	15	1.10
TT8	886	10	132.84
LPSleep	4747	2	143.38
TT8_Active	471	10	70.71
TT8_Sampling	1411	29	576.03
TT8_CF8	537	35	263.76
TT8_Kalman	0	0	0.00
Analog_circuits	1651	11	264.23
GPS_charging	0	0	0.00
Compass	574	16	130.58
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
31	-0.39	-107.1	81	1882	1214	1410	0.0	0.0	0	110	0.00	0.00	-73.85	0.000	16390	0.000	0.000	78	1882	3377	3375	3380	0	0	0	0	0	0	14.50	12.88	14.50
117	-0.39	-107.1	83	1883	3377	3381	1.9	-2.1	2	135	14.00	0.00	0.00	0.000	2054	0.360	0.000	3259	1883	3378	3374	3382	0	0	0	0	0	0	14.00	14.35	14.31
304	-0.39	-107.1	3258	1883	3374	3392	46.9	-12.5	9	312	0.00	2.60	0.00	0.000	260	0.000	0.103	3259	3306	3383	3374	3393	0	0	0	0	0	0	14.55	14.21	14.57
445	-0.39	-107.1	3259	3306	3381	3393	64.2	-11.9	35	453	0.00	2.50	0.00	0.000	1030	0.000	0.092	3259	1914	3384	3374	3394	0	0	0	0	0	0	14.36	14.24	14.40
654	-0.39	-107.1	3259	1913	3374	3395	88.2	-10.8	45	657	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1911	3384	3374	3395	0	0	0	0	0	0	14.60	14.65	14.62
835	-0.39	-107.1	3259	1913	3374	3396	107.3	-10.5	51	838	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1913	3385	3374	3396	0	0	0	0	0	0	14.61	14.64	14.64
1014	-0.39	-107.1	3259	1914	3374	3395	124.9	-9.3	57	1017	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1913	3384	3373	3395	0	0	0	0	0	0	14.64	14.66	14.65
1194	-0.39	-107.1	3258	1913	3373	3391	139.7	-8.0	63	1198	0.00	0.00	0.00	0.000	6	0.000	0.000	3260	1913	3384	3373	3396	0	0	0	0	0	0	14.66	14.66	14.67
1375	-0.39	-107.1	3259	1913	3371	3396	154.1	-8.1	69	1383	0.00	2.58	0.00	0.000	516	0.000	0.106	3259	481	3384	3372	3396	0	0	0	0	0	0	14.66	14.26	14.68
1447	-0.39	-107.1	3258	481	3371	3395	161.1	-9.9	82	1455	0.00	2.50	0.00	0.000	1030	0.000	0.090	3259	1897	3383	3370	3396	0	0	0	0	0	0	14.35	14.23	14.41
1661	-0.39	-107.1	3259	1898	3369	3392	180.0	-9.1	93	1664	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1898	3383	3370	3396	0	0	0	0	0	0	14.64	14.66	14.66
1841	-0.39	-107.1	3259	1898	3369	3400	197.2	-9.6	99	1845	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1898	3384	3372	3396	0	0	0	0	0	0	14.64	14.67	14.69
2021	-0.39	-107.1	3259	1898	3368	3396	215.6	-10.2	105	2028	0.00	2.55	0.00	0.000	516	0.000	0.104	3259	486	3382	3368	3396	0	0	0	0	0	0	14.66	14.26	14.68
2049	-0.39	-107.1	3259	486	3367	3396	218.7	-10.9	109	2056	0.00	2.50	0.00	0.000	1030	0.000	0.090	3259	1899	3387	3373	3401	0	0	0	0	0	0	14.42	14.29	14.46
2248	-0.39	-107.1	3259	1899	3366	3395	238.3	-9.5	117	2251	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	1901	3380	3365	3396	0	0	0	0	0	0	14.66	14.67	14.69
2457	-0.39	-107.1	3258	1901	3364	3395	257.0	-8.9	123	2466	0.00	2.55	0.00	0.000	260	0.000	0.102	3258	3319	3380	3364	3396	0	0	0	0	0	0	14.66	14.26	14.68
2517	-0.39	-107.1	3260	3318	3364	3396	262.2	-8.1	133	2524	0.00	2.55	0.00	0.000	1030	0.000	0.091	3259	1896	3379	3363	3396	0	0	0	0	0	0	14.43	14.30	14.46
2770	end dive: TARGET_DEPTH_EXCEEDED
state	2770	begin apogee
2782	-0.16	0.0	3260	2255	3362	3396	285.4	-9.0	139	2867	0.25	0.00	79.47	1.036	10246	0.180	0.000	3336	2255	2943	2886	3001	0	0	0	0	0	0	14.19	14.21	13.69
2870	end apogee: CONTROL_FINISHED_OK
state	2870	begin climb
2875	0.39	107.1	3337	2254	2882	2999	289.2	0.0	140	2965	0.55	0.00	80.93	1.012	10246	0.132	0.000	3518	2254	2502	2380	2625	0	0	0	0	0	0	14.15	14.02	13.54
3262	0.43	187.3	3518	2255	2374	2623	280.1	3.7	147	3329	0.00	0.00	59.33	1.004	8710	0.000	0.000	3518	2256	2173	2026	2320	0	0	0	0	0	0	14.50	14.14	13.64
3617	0.45	236.3	3518	2256	2025	2320	263.5	5.1	164	3663	0.00	0.00	37.70	0.988	8198	0.000	0.000	3518	2256	1977	1827	2128	0	0	0	0	0	0	14.54	14.24	13.75
3916	0.49	236.3	3518	2256	1827	2114	245.0	5.6	170	3926	0.00	0.00	0.00	0.000	6	0.000	0.000	3518	2256	1973	1828	2118	0	0	0	0	0	0	14.56	14.57	14.57
4097	0.50	236.3	3518	2255	1827	2118	233.4	6.6	176	4108	0.10	0.00	0.00	0.000	2054	0.122	0.000	3586	2256	1972	1827	2117	0	0	0	0	0	0	14.39	14.47	14.45
4275	0.50	236.3	3590	2256	1827	2116	215.2	10.9	182	4287	0.12	2.58	0.00	0.000	4612	0.214	0.103	3560	841	1972	1827	2117	0	0	0	0	0	0	14.23	14.28	14.33
4328	0.50	236.3	3560	841	1827	2115	209.9	10.1	190	4339	0.00	2.50	0.00	0.000	1030	0.000	0.092	3560	2247	1973	1830	2116	0	0	0	0	0	0	14.45	14.32	14.47
4545	0.50	236.3	3558	2246	1827	2115	190.6	9.2	200	4557	0.00	2.60	0.00	0.000	260	0.000	0.106	3560	3674	1971	1827	2115	0	0	0	0	0	0	14.66	14.26	14.68
4627	0.50	236.3	3560	3674	1827	2113	180.8	11.2	214	4639	0.00	2.58	0.00	0.000	1030	0.000	0.092	3569	2243	1973	1834	2113	0	0	0	0	0	0	14.46	14.34	14.50
4841	0.50	236.3	3569	2242	1828	2113	159.8	9.8	224	4853	0.00	2.53	0.00	0.000	516	0.000	0.107	3566	839	1971	1828	2114	0	0	0	0	0	0	14.67	14.31	14.69
4898	0.50	236.3	3569	839	1828	2112	154.1	9.6	233	4909	0.00	2.53	0.00	0.000	1030	0.000	0.091	3570	2248	1970	1828	2112	0	0	0	0	0	0	14.46	14.35	14.50
5106	0.50	236.3	3569	2247	1827	2113	133.3	10.4	242	5116	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	2252	1971	1829	2113	0	0	0	0	0	0	14.68	14.69	14.69
5285	0.50	236.3	3569	2247	1827	2112	113.2	11.2	248	5297	0.00	2.62	0.00	0.000	260	0.000	0.107	3566	3681	1969	1827	2112	0	0	0	0	0	0	14.69	14.25	14.70
5402	0.50	236.3	3570	3680	1827	2111	99.6	10.5	268	5413	0.00	2.58	0.00	0.000	1030	0.000	0.094	3570	2255	1970	1829	2111	0	0	0	0	0	0	14.46	14.32	14.51
5619	0.50	236.3	3569	2255	1827	2111	80.9	8.4	278	5630	0.00	2.55	0.00	0.000	516	0.000	0.105	3570	840	1970	1827	2113	0	0	0	0	0	0	14.69	14.31	14.71
5696	0.50	236.3	3570	839	1828	2111	74.7	7.4	291	5707	0.00	2.53	0.00	0.000	1030	0.000	0.091	3570	2268	1969	1828	2111	0	0	0	0	0	0	14.41	14.26	14.45
5918	0.52	236.3	3569	2268	1834	2111	60.4	6.3	302	5929	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	2265	1969	1828	2111	0	0	0	0	0	0	14.69	14.69	14.71
6095	0.54	236.3	3569	2268	1828	2111	48.3	6.6	308	6106	0.00	2.60	0.00	0.000	516	0.000	0.103	3570	840	1969	1828	2111	0	0	0	0	0	0	14.69	14.30	14.71
6191	0.54	236.3	3570	840	1828	2111	41.3	7.7	324	6202	0.00	2.50	0.00	0.000	1030	0.000	0.092	3570	2246	1967	1827	2108	0	0	0	0	0	0	14.44	14.28	14.50
6395	0.56	285.4	3570	2246	1828	2111	29.1	5.1	332	6437	0.00	0.00	34.45	0.747	8198	0.000	0.000	3570	2246	1775	1629	1922	0	0	0	0	0	0	14.69	14.43	14.00
6604	0.59	347.6	3569	2246	1627	1920	19.1	4.5	339	6643	0.00	2.58	29.12	0.165	8452	0.000	0.102	3570	3663	1524	1382	1667	0	0	0	0	0	0	14.61	14.25	14.13
6819	0.62	347.6	3570	3663	1384	1667	6.6	5.8	379	6831	0.00	2.55	0.00	0.000	1030	0.000	0.090	3570	2248	1526	1385	1667	0	0	0	0	0	0	14.40	14.27	14.43
6867	end climb: SURFACE_DEPTH_REACHED
state	6867	begin surface coast
6929	end surface coast: CONTROL_FINISHED_OK
state	6929	begin surface