Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 38 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 13 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2892 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 330 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 370 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS 20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593228.6 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367308

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3111006e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3360 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 140 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0016 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 1.0

HD_B 0.0099999998 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 1.4e-05 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 22 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 1.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0016 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 1.4e-05 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 330

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593228.6

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 370

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3360 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2700 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2892 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 140 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 10 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 13 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 16 VBD_MAXERRORS 1

DIVE 38 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 0

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0049999999 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367308

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3111006e-05

Pre-dive calculations and measurements:

GPS1 270614,034105,4751.688,-12512.281,13,1.6,17,18.7 SPEED_LIMITS 0.173,0.237

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 208.6,166384,-15.7,-10.000,-22.91,1951

_SM_ANGLEo -72.0 D_GRID 249

GPS2 270614,034755,4751.710,-12512.277,34,1.5,34,18.7

Post-dive calculations and measurements:

FINISH 0.3,1.023115 _10V_AH 13.1,0.000

SM_CCo 4799,11.15,0.106,0,0,1465,350.04 FG_AHR_24Vo 0.000

SM_GC 2.69,9.38,2.03,11.15,0.090,0.106,0.106,394,2402,1465,-9.22,-0.51,350.04,0,0,0,0,0,0,14.41,14.40,14.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12516.60,230407,151539 MEM 290820

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20074,562

HUMID 49.09 CAP_FILE_SIZE 94183,0

INTERNAL_PRESSURE 8.95227 CFSIZE 260034560,254529536

TCM_TEMP 19.10 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 1,2267.34,0x234486,1,24

SC_FREEKB 3925856 EKF 4908,2871.416504,-7512.768066,0.313798,-0.010895,-0.018219,0.002779,0.001322,0.002936,0.001939,0.063018,0.063018,0.000121

PM_FREEKB 61896288 CURRENT 0.103,268.9,1

_24V_AH 13.5,6.521 GPS 270614,051013,4751.411,-12513.179,45,1.9,45,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 427 141.73 nil 0 0 0.00

Roll_motor 50 164 112.52 nil 0 0 0.00

VBD_pump_during_apogee 353 996 4753.30 nil 0 0 0.00

VBD_pump_during_surface 11 106 16.01 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 4777 8 524.56

Iridium_during_xfer 192 156 408.13 PMAR 2235 4 126.03

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 22 10.33

TT8 1671 10 223.84

LPSleep 1542 2 44.24

TT8_Active 501 10 67.18

TT8_Sampling 1193 28 452.55

TT8_CF8 319 35 149.26

TT8_Kalman 0 0 0.00

Analog_circuits 1262 10 165.38

GPS_charging 0 0 0.00

Compass 865 0 8.50

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -0.85 -136.3 396 2405 1584 1345 0.0 0.0 0 92 0.00 0.00 -60.40 0.000 16386 0.000 0.000 396 2403 3034 3068 3000 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.85 -136.3 396 2406 3069 3001 3.1 -3.8 6 129 12.80 2.53 -7.05 0.000 18948 0.428 0.130 3079 982 3451 3469 3433 0 0 0 0 0 0 14.25 14.39 14.62

287 -0.82 -136.3 3079 982 3470 3437 49.3 -18.3 40 295 0.00 2.47 0.00 0.000 1030 0.000 0.099 3079 2402 3452 3467 3437 0 0 0 0 0 0 28.83 14.45 28.83

486 -0.80 -136.3 3079 2402 3472 3440 80.9 -16.6 60 495 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2402 3454 3471 3438 0 0 0 0 0 0 28.83 28.83 28.83

677 -0.78 -136.3 3079 2402 3472 3438 106.1 -11.6 79 686 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2402 3455 3473 3438 0 0 0 0 0 0 28.83 28.83 28.83

866 -0.77 -136.3 3079 2402 3472 3438 128.8 -11.6 98 877 0.12 2.50 0.00 0.000 2564 0.302 0.109 3113 982 3454 3472 3437 0 0 0 0 0 0 14.45 14.51 28.83

960 -0.77 -136.3 3114 982 3473 3436 138.8 -11.0 114 971 0.00 2.47 0.00 0.000 1030 0.000 0.100 3113 2407 3455 3473 3438 0 0 0 0 0 0 28.83 14.53 28.83

1162 -0.77 -136.3 3113 2404 3472 3438 159.1 -9.8 134 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2406 3455 3472 3438 0 0 0 0 0 0 28.83 28.83 28.83

1352 -0.77 -136.3 3114 2405 3472 3438 178.0 -10.1 153 1361 0.00 2.47 0.00 0.000 260 0.000 0.117 3116 3810 3455 3472 3438 0 0 0 0 0 0 28.83 14.54 28.83

1424 -0.77 -136.3 3113 3810 3472 3438 185.8 -11.1 165 1434 0.00 2.50 0.00 0.000 1030 0.000 0.105 3111 2391 3455 3472 3438 0 0 0 0 0 0 28.83 14.54 28.83

1624 -0.77 -136.3 3112 2390 3473 3438 205.5 -10.0 185 1633 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2389 3452 3467 3438 0 0 0 0 0 0 28.83 28.83 28.83

1814 -0.77 -136.3 3117 2390 3471 3438 224.0 -9.6 204 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2387 3455 3472 3438 0 0 0 0 0 0 28.83 28.83 28.83

2005 -0.77 -136.3 3112 2390 3478 3438 242.2 -9.4 223 2014 0.00 2.47 0.00 0.000 516 0.000 0.127 3113 993 3455 3472 3438 0 0 0 0 0 0 28.83 14.56 28.83

2069 -0.77 -136.3 3114 993 3472 3437 248.5 -9.9 234 2081 0.00 2.47 0.00 0.000 1030 0.000 0.110 3113 2404 3455 3473 3438 0 0 0 0 0 0 28.83 14.57 28.83

2088 end dive: TARGET_DEPTH_EXCEEDED

state 2088 begin apogee

2096 -0.32 0.0 3113 2698 3472 3437 250.5 -9.5 236 2212 0.47 0.00 104.62 0.996 10246 0.212 0.000 3251 2698 2890 2956 2824 0 0 0 0 0 0 14.52 28.83 13.74

2215 end apogee: CONTROL_FINISHED_OK

state 2215 begin climb

2219 0.85 136.3 3251 2698 2956 2821 254.8 0.0 240 2342 1.20 0.00 107.32 0.965 10502 0.156 0.000 3626 2698 2332 2477 2187 0 0 0 0 0 0 14.11 28.83 13.54

2642 0.80 136.3 3626 2698 2477 2188 209.3 13.3 288 2653 0.00 2.60 0.00 0.000 516 0.000 0.132 3630 1289 2329 2477 2182 0 0 0 0 0 0 28.83 14.28 28.83

2704 0.76 136.3 3630 1289 2476 2180 201.1 13.6 298 2717 0.00 2.55 0.00 0.000 1030 0.000 0.114 3630 2700 2329 2477 2181 0 0 0 0 0 0 28.83 14.35 28.83

2908 0.71 136.3 3630 2700 2476 2180 173.4 13.0 318 2921 0.15 2.62 0.00 0.000 4612 0.303 0.144 3603 1300 2328 2477 2180 0 0 0 0 0 0 14.33 14.40 28.83

2965 0.68 136.3 3605 1296 2476 2180 167.1 10.9 326 2977 0.00 2.53 0.00 0.000 1030 0.000 0.118 3603 2699 2329 2478 2180 0 0 0 0 0 0 28.83 14.42 28.83

3168 0.64 136.3 3603 2699 2475 2175 143.4 11.4 346 3181 0.15 2.35 0.00 0.000 4356 0.300 0.128 3567 4008 2327 2475 2179 0 0 0 0 0 0 14.39 14.45 28.83

3255 0.60 136.3 3567 4008 2474 2178 134.0 10.8 360 3265 0.00 2.38 0.00 0.000 1030 0.000 0.134 3574 2704 2326 2474 2179 0 0 0 0 0 0 28.83 14.45 28.83

3456 0.58 142.6 3574 2705 2474 2178 114.6 9.7 380 3475 0.00 2.72 3.78 0.701 8708 0.000 0.164 3580 1292 2311 2459 2164 0 0 0 0 0 0 28.83 14.42 14.05

3657 0.57 157.5 3586 1293 2458 2166 95.6 9.2 416 3683 0.15 2.53 13.90 0.848 13318 0.280 0.115 3547 2701 2250 2403 2097 0 0 0 0 0 0 14.45 14.52 14.13

3874 0.58 184.0 3547 2701 2403 2094 77.7 8.6 438 3904 0.00 0.00 22.12 0.816 8198 0.000 0.000 3547 2701 2139 2297 1982 0 0 0 0 0 0 28.83 28.83 14.11

4086 0.63 235.3 3547 2701 2297 1980 60.6 7.3 459 4138 0.00 2.62 39.85 0.776 8708 0.000 0.139 3548 1280 1928 2080 1777 0 0 0 0 0 0 28.83 14.25 14.01

4276 0.67 272.6 3548 1280 2080 1776 43.8 8.0 491 4319 0.00 2.58 28.58 0.757 9222 0.000 0.109 3548 2713 1776 1938 1614 0 0 0 0 0 0 28.83 14.36 14.00

4501 0.72 321.6 3548 2713 1938 1613 24.5 7.4 515 4546 0.12 2.72 33.33 0.725 10756 0.164 0.133 3601 1283 1579 1741 1417 0 0 0 0 0 0 14.41 14.22 14.00

4723 end climb: SURFACE_DEPTH_REACHED

state 4723 begin surface coast

4771 end surface coast: CONTROL_FINISHED_OK

state 4772 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	38	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	13	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2892	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	330	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	370	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593228.6	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367308
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3111006e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3360	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	140	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0016	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	1.0
HD_B	0.0099999998	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	1.4e-05	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	270614,034105,4751.688,-12512.281,13,1.6,17,18.7	SPEED_LIMITS	0.173,0.237
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	208.6,166384,-15.7,-10.000,-22.91,1951
_SM_ANGLEo	-72.0	D_GRID	249
GPS2	270614,034755,4751.710,-12512.277,34,1.5,34,18.7

FINISH	0.3,1.023115	_10V_AH	13.1,0.000
SM_CCo	4799,11.15,0.106,0,0,1465,350.04	FG_AHR_24Vo	0.000
SM_GC	2.69,9.38,2.03,11.15,0.090,0.106,0.106,394,2402,1465,-9.22,-0.51,350.04,0,0,0,0,0,0,14.41,14.40,14.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12516.60,230407,151539	MEM	290820
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20074,562
HUMID	49.09	CAP_FILE_SIZE	94183,0
INTERNAL_PRESSURE	8.95227	CFSIZE	260034560,254529536
TCM_TEMP	19.10	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	1,2267.34,0x234486,1,24
SC_FREEKB	3925856	EKF	4908,2871.416504,-7512.768066,0.313798,-0.010895,-0.018219,0.002779,0.001322,0.002936,0.001939,0.063018,0.063018,0.000121
PM_FREEKB	61896288	CURRENT	0.103,268.9,1
_24V_AH	13.5,6.521	GPS	270614,051013,4751.411,-12513.179,45,1.9,45,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	427	141.73	nil	0	0	0.00
Roll_motor	50	164	112.52	nil	0	0	0.00
VBD_pump_during_apogee	353	996	4753.30	nil	0	0	0.00
VBD_pump_during_surface	11	106	16.01	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	4777	8	524.56
Iridium_during_xfer	192	156	408.13	PMAR	2235	4	126.03
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	22	10.33
TT8	1671	10	223.84
LPSleep	1542	2	44.24
TT8_Active	501	10	67.18
TT8_Sampling	1193	28	452.55
TT8_CF8	319	35	149.26
TT8_Kalman	0	0	0.00
Analog_circuits	1262	10	165.38
GPS_charging	0	0	0.00
Compass	865	0	8.50
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-0.85	-136.3	396	2405	1584	1345	0.0	0.0	0	92	0.00	0.00	-60.40	0.000	16386	0.000	0.000	396	2403	3034	3068	3000	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.85	-136.3	396	2406	3069	3001	3.1	-3.8	6	129	12.80	2.53	-7.05	0.000	18948	0.428	0.130	3079	982	3451	3469	3433	0	0	0	0	0	0	14.25	14.39	14.62
287	-0.82	-136.3	3079	982	3470	3437	49.3	-18.3	40	295	0.00	2.47	0.00	0.000	1030	0.000	0.099	3079	2402	3452	3467	3437	0	0	0	0	0	0	28.83	14.45	28.83
486	-0.80	-136.3	3079	2402	3472	3440	80.9	-16.6	60	495	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2402	3454	3471	3438	0	0	0	0	0	0	28.83	28.83	28.83
677	-0.78	-136.3	3079	2402	3472	3438	106.1	-11.6	79	686	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2402	3455	3473	3438	0	0	0	0	0	0	28.83	28.83	28.83
866	-0.77	-136.3	3079	2402	3472	3438	128.8	-11.6	98	877	0.12	2.50	0.00	0.000	2564	0.302	0.109	3113	982	3454	3472	3437	0	0	0	0	0	0	14.45	14.51	28.83
960	-0.77	-136.3	3114	982	3473	3436	138.8	-11.0	114	971	0.00	2.47	0.00	0.000	1030	0.000	0.100	3113	2407	3455	3473	3438	0	0	0	0	0	0	28.83	14.53	28.83
1162	-0.77	-136.3	3113	2404	3472	3438	159.1	-9.8	134	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2406	3455	3472	3438	0	0	0	0	0	0	28.83	28.83	28.83
1352	-0.77	-136.3	3114	2405	3472	3438	178.0	-10.1	153	1361	0.00	2.47	0.00	0.000	260	0.000	0.117	3116	3810	3455	3472	3438	0	0	0	0	0	0	28.83	14.54	28.83
1424	-0.77	-136.3	3113	3810	3472	3438	185.8	-11.1	165	1434	0.00	2.50	0.00	0.000	1030	0.000	0.105	3111	2391	3455	3472	3438	0	0	0	0	0	0	28.83	14.54	28.83
1624	-0.77	-136.3	3112	2390	3473	3438	205.5	-10.0	185	1633	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2389	3452	3467	3438	0	0	0	0	0	0	28.83	28.83	28.83
1814	-0.77	-136.3	3117	2390	3471	3438	224.0	-9.6	204	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2387	3455	3472	3438	0	0	0	0	0	0	28.83	28.83	28.83
2005	-0.77	-136.3	3112	2390	3478	3438	242.2	-9.4	223	2014	0.00	2.47	0.00	0.000	516	0.000	0.127	3113	993	3455	3472	3438	0	0	0	0	0	0	28.83	14.56	28.83
2069	-0.77	-136.3	3114	993	3472	3437	248.5	-9.9	234	2081	0.00	2.47	0.00	0.000	1030	0.000	0.110	3113	2404	3455	3473	3438	0	0	0	0	0	0	28.83	14.57	28.83
2088	end dive: TARGET_DEPTH_EXCEEDED
state	2088	begin apogee
2096	-0.32	0.0	3113	2698	3472	3437	250.5	-9.5	236	2212	0.47	0.00	104.62	0.996	10246	0.212	0.000	3251	2698	2890	2956	2824	0	0	0	0	0	0	14.52	28.83	13.74
2215	end apogee: CONTROL_FINISHED_OK
state	2215	begin climb
2219	0.85	136.3	3251	2698	2956	2821	254.8	0.0	240	2342	1.20	0.00	107.32	0.965	10502	0.156	0.000	3626	2698	2332	2477	2187	0	0	0	0	0	0	14.11	28.83	13.54
2642	0.80	136.3	3626	2698	2477	2188	209.3	13.3	288	2653	0.00	2.60	0.00	0.000	516	0.000	0.132	3630	1289	2329	2477	2182	0	0	0	0	0	0	28.83	14.28	28.83
2704	0.76	136.3	3630	1289	2476	2180	201.1	13.6	298	2717	0.00	2.55	0.00	0.000	1030	0.000	0.114	3630	2700	2329	2477	2181	0	0	0	0	0	0	28.83	14.35	28.83
2908	0.71	136.3	3630	2700	2476	2180	173.4	13.0	318	2921	0.15	2.62	0.00	0.000	4612	0.303	0.144	3603	1300	2328	2477	2180	0	0	0	0	0	0	14.33	14.40	28.83
2965	0.68	136.3	3605	1296	2476	2180	167.1	10.9	326	2977	0.00	2.53	0.00	0.000	1030	0.000	0.118	3603	2699	2329	2478	2180	0	0	0	0	0	0	28.83	14.42	28.83
3168	0.64	136.3	3603	2699	2475	2175	143.4	11.4	346	3181	0.15	2.35	0.00	0.000	4356	0.300	0.128	3567	4008	2327	2475	2179	0	0	0	0	0	0	14.39	14.45	28.83
3255	0.60	136.3	3567	4008	2474	2178	134.0	10.8	360	3265	0.00	2.38	0.00	0.000	1030	0.000	0.134	3574	2704	2326	2474	2179	0	0	0	0	0	0	28.83	14.45	28.83
3456	0.58	142.6	3574	2705	2474	2178	114.6	9.7	380	3475	0.00	2.72	3.78	0.701	8708	0.000	0.164	3580	1292	2311	2459	2164	0	0	0	0	0	0	28.83	14.42	14.05
3657	0.57	157.5	3586	1293	2458	2166	95.6	9.2	416	3683	0.15	2.53	13.90	0.848	13318	0.280	0.115	3547	2701	2250	2403	2097	0	0	0	0	0	0	14.45	14.52	14.13
3874	0.58	184.0	3547	2701	2403	2094	77.7	8.6	438	3904	0.00	0.00	22.12	0.816	8198	0.000	0.000	3547	2701	2139	2297	1982	0	0	0	0	0	0	28.83	28.83	14.11
4086	0.63	235.3	3547	2701	2297	1980	60.6	7.3	459	4138	0.00	2.62	39.85	0.776	8708	0.000	0.139	3548	1280	1928	2080	1777	0	0	0	0	0	0	28.83	14.25	14.01
4276	0.67	272.6	3548	1280	2080	1776	43.8	8.0	491	4319	0.00	2.58	28.58	0.757	9222	0.000	0.109	3548	2713	1776	1938	1614	0	0	0	0	0	0	28.83	14.36	14.00
4501	0.72	321.6	3548	2713	1938	1613	24.5	7.4	515	4546	0.12	2.72	33.33	0.725	10756	0.164	0.133	3601	1283	1579	1741	1417	0	0	0	0	0	0	14.41	14.22	14.00
4723	end climb: SURFACE_DEPTH_REACHED
state	4723	begin surface coast
4771	end surface coast: CONTROL_FINISHED_OK
state	4772	begin surface