Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 386 * 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 386 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 22 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 16 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 386 NOCOMM_ACTION 161 R_PORT_OVSHOOT 22 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 16 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 260915,195209,4751.0840,-12512.8584,36,0.9,37,16.5,0.4,43.5,8,8.1 SPEED_LIMITS 0.127,0.207

_CALLS 3 TGT_NAME OFFSHORE

_XMS_NAKs 1 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 212.6,165375,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -78.5 D_GRID 312

GPS2 260915,201142,4751.0693,-12512.5947,3,1.0,7,16.5,0.9,147.5,7,9.4

Post-dive calculations and measurements:

FINISH 1.1,1.023533 _10V_AH 13.08,0.000

SM_CCo 7732,4.75,0.084,0,0,1309,400.08 FG_AHR_24Vo 0.000

SM_GC 2.46,9.62,0.65,4.75,0.036,0.095,0.084,82,1886,1309,-10.26,0.28,400.08,0,0,0,0,0,0,14.35,14.27,14.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12509.51,260915,195920 MEM 286372

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 16753,521

HUMID 51.49 CAP_FILE_SIZE 107795,0

INTERNAL_PRESSURE 9.11829 CFSIZE 260034560,211210240

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.040,203.74,1

SC_FREEKB 3784000 GPS 260915,222256,4750.380,-12513.682,33,0.7,51,16.5,0.2,196.6,12,4.5

_24V_AH 12.57,105.528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 363 112.93 nil 0 0 0.00

Roll_motor 93 106 124.54 nil 0 0 0.00

VBD_pump_during_apogee 337 1080 4589.17 nil 0 0 0.00

VBD_pump_during_surface 4 84 5.02 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 7756 7 733.93

Iridium_during_xfer 745 117 1096.12 PMAR 3231 9 373.12

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 15 1.72

TT8 1063 10 151.27

LPSleep 5052 2 144.72

TT8_Active 463 10 65.90

TT8_Sampling 1739 29 673.60

TT8_CF8 587 35 273.46

TT8_Kalman 0 0 0.00

Analog_circuits 1883 11 285.75

GPS_charging 0 0 0.00

Compass 776 16 167.44

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 87 1881 1205 1428 0.0 0.0 0 107 0.00 0.00 -71.70 0.000 16390 0.000 0.000 81 1876 3378 3376 3380 0 0 0 0 0 0 14.54 12.57 14.52

114 -0.39 -107.1 83 1880 3377 3381 2.5 -4.2 2 136 14.15 2.58 0.00 0.000 2308 0.363 0.086 3247 3313 3379 3377 3382 0 0 0 0 0 0 13.84 14.20 14.08

279 -0.39 -107.1 3247 3316 3376 3389 44.6 -12.6 33 288 0.00 2.55 0.00 0.000 1030 0.000 0.088 3246 1906 3383 3376 3390 0 0 0 0 0 0 14.32 14.17 14.32

494 -0.39 -107.1 3247 1906 3373 3395 73.2 -12.8 44 501 0.00 2.55 0.00 0.000 516 0.000 0.099 3247 480 3384 3373 3395 0 0 0 0 0 0 14.59 14.16 14.60

587 -0.39 -107.1 3247 479 3373 3395 84.8 -11.1 61 597 0.00 2.53 0.00 0.000 1030 0.000 0.085 3247 1899 3383 3372 3395 0 0 0 0 0 0 14.33 14.19 14.39

773 -0.39 -107.1 3247 1895 3373 3396 103.7 -10.4 68 780 0.00 2.58 0.00 0.000 260 0.000 0.101 3247 3322 3384 3373 3396 0 0 0 0 0 0 14.62 14.16 14.63

845 -0.39 -107.1 3247 3326 3373 3396 111.3 -10.0 81 854 0.00 2.55 0.00 0.000 1030 0.000 0.085 3247 1888 3384 3372 3396 0 0 0 0 0 0 14.33 14.21 14.38

1062 -0.39 -107.1 3246 1888 3372 3396 131.7 -9.3 92 1069 0.00 2.50 0.00 0.000 516 0.000 0.099 3247 488 3384 3372 3396 0 0 0 0 0 0 14.61 14.12 14.62

1115 -0.39 -107.1 3247 488 3368 3396 137.7 -10.9 101 1123 0.00 2.50 0.00 0.000 1030 0.000 0.086 3245 1899 3384 3372 3396 0 0 0 0 0 0 14.35 14.22 14.40

1321 -0.39 -107.1 3250 1899 3370 3396 156.5 -8.9 110 1329 0.00 2.55 0.00 0.000 260 0.000 0.101 3247 3318 3383 3370 3396 0 0 0 0 0 0 14.63 14.19 14.64

1360 -0.39 -107.1 3246 3322 3370 3395 159.9 -8.4 116 1367 0.00 2.53 0.00 0.000 1030 0.000 0.087 3248 1907 3383 3370 3396 0 0 0 0 0 0 14.35 14.21 14.40

1579 -0.39 -107.1 3246 1907 3369 3396 180.0 -9.5 128 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 1907 3382 3369 3396 0 0 0 0 0 0 14.66 14.65 14.64

1760 -0.39 -107.1 3247 1907 3368 3395 197.9 -10.0 134 1767 0.00 2.58 0.00 0.000 260 0.000 0.101 3247 3320 3381 3368 3395 0 0 0 0 0 0 14.63 14.16 14.66

1808 -0.39 -107.1 3244 3320 3368 3396 202.6 -9.2 142 1815 0.00 2.55 0.00 0.000 1030 0.000 0.087 3247 1894 3382 3368 3396 0 0 0 0 0 0 14.35 14.23 14.38

2017 -0.39 -107.1 3246 1894 3366 3396 222.5 -9.5 152 2025 0.00 2.53 0.00 0.000 516 0.000 0.100 3247 482 3381 3366 3396 0 0 0 0 0 0 14.63 14.17 14.64

2050 -0.39 -107.1 3244 479 3366 3396 225.9 -10.1 157 2060 0.00 2.53 0.00 0.000 1030 0.000 0.087 3247 1898 3380 3365 3396 0 0 0 0 0 0 14.34 14.21 14.38

2236 -0.39 -107.1 3247 1899 3364 3396 243.2 -9.3 164 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 1899 3377 3359 3396 0 0 0 0 0 0 14.64 14.65 14.65

2447 -0.39 -107.1 3246 1899 3362 3396 262.4 -9.1 169 2451 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 1902 3379 3363 3396 0 0 0 0 0 0 14.64 14.65 14.65

2747 -0.39 -107.1 3247 1897 3361 3396 287.0 -8.2 174 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 1899 3378 3360 3396 0 0 0 0 0 0 14.65 14.67 14.67

3041 end dive: TARGET_DEPTH_EXCEEDED

state 3042 begin apogee

3053 -0.16 0.0 3251 2262 3358 3396 314.8 -9.3 179 3137 0.30 0.00 78.40 1.081 10246 0.177 0.000 3337 2262 2940 2879 3001 0 0 0 0 0 0 14.10 14.16 13.57

3140 end apogee: CONTROL_FINISHED_OK

state 3140 begin climb

3146 0.39 107.1 3338 2262 2879 2999 318.6 0.0 180 3235 0.50 0.00 78.90 1.059 10758 0.120 0.000 3515 2261 2500 2374 2627 0 0 0 0 0 0 14.10 13.98 13.42

3582 0.43 181.1 3515 2262 2372 2624 306.1 3.9 209 3644 0.00 0.00 54.35 1.056 8198 0.000 0.000 3515 2262 2200 2051 2350 0 0 0 0 0 0 14.54 14.15 13.56

3941 0.45 232.3 3515 2262 2051 2349 288.4 5.0 215 3991 0.00 2.60 38.12 1.036 8708 0.000 0.102 3516 841 1991 1840 2142 0 0 0 0 0 0 14.55 14.18 13.64

4032 0.49 232.3 3516 841 1840 2138 283.9 5.6 231 4044 0.08 2.53 0.00 0.000 3078 0.146 0.090 3580 2245 1990 1840 2140 0 0 0 0 0 0 14.20 14.13 14.29

4389 0.49 232.3 3580 2245 1840 2140 251.5 9.3 244 4400 0.00 2.58 0.00 0.000 260 0.000 0.103 3580 3663 1991 1841 2141 0 0 0 0 0 0 14.61 14.21 14.62

4482 0.49 232.3 3579 3663 1840 2136 240.7 11.7 260 4493 0.00 2.55 0.00 0.000 1030 0.000 0.090 3582 2252 1990 1840 2140 0 0 0 0 0 0 14.38 14.25 14.42

4685 0.49 232.3 3582 2252 1840 2140 220.0 9.8 268 4697 0.08 2.55 0.00 0.000 4612 0.247 0.098 3556 831 1990 1841 2140 0 0 0 0 0 0 14.18 14.23 14.28

4780 0.49 232.3 3557 831 1840 2139 212.4 8.4 283 4791 0.00 2.55 0.00 0.000 1030 0.000 0.092 3559 2265 1989 1838 2140 0 0 0 0 0 0 14.39 14.26 14.43

4987 0.49 232.3 3559 2265 1840 2139 195.3 7.9 292 4998 0.00 2.55 0.00 0.000 260 0.000 0.106 3560 3662 1989 1839 2139 0 0 0 0 0 0 14.67 14.23 14.68

5024 0.49 232.3 3559 3662 1839 2139 191.8 9.3 297 5037 0.00 2.55 0.00 0.000 1030 0.000 0.089 3569 2246 1992 1846 2138 0 0 0 0 0 0 14.40 14.27 14.44

5209 0.49 232.3 3569 2246 1839 2138 174.8 9.2 304 5221 0.00 2.53 0.00 0.000 516 0.000 0.101 3570 841 1988 1839 2137 0 0 0 0 0 0 14.65 14.22 14.67

5252 0.49 232.3 3569 841 1839 2138 171.0 9.1 310 5263 0.00 2.53 0.00 0.000 1030 0.000 0.093 3570 2248 1988 1839 2138 0 0 0 0 0 0 14.40 14.26 14.44

5480 0.49 232.3 3570 2248 1839 2138 149.8 9.4 322 5491 0.00 2.58 0.00 0.000 260 0.000 0.105 3570 3663 1988 1838 2138 0 0 0 0 0 0 14.65 14.20 14.66

5517 0.49 232.3 3569 3663 1839 2137 145.5 11.0 327 5529 0.00 2.55 0.00 0.000 1030 0.000 0.090 3570 2251 1988 1839 2137 0 0 0 0 0 0 14.38 14.24 14.42

5704 0.49 232.3 3569 2251 1839 2139 127.8 9.5 334 5715 0.00 2.55 0.00 0.000 516 0.000 0.102 3570 834 1988 1839 2137 0 0 0 0 0 0 14.65 14.21 14.67

5786 0.49 232.3 3570 833 1839 2137 120.1 9.0 348 5797 0.00 2.53 0.00 0.000 1030 0.000 0.090 3570 2245 1989 1841 2137 0 0 0 0 0 0 14.40 14.24 14.43

6004 0.49 232.3 3570 2245 1839 2137 103.2 7.9 358 6014 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2245 1988 1839 2137 0 0 0 0 0 0 14.64 14.66 14.66

6178 0.49 232.3 3570 2245 1838 2137 89.0 7.6 364 6189 0.00 2.62 0.00 0.000 260 0.000 0.104 3570 3678 1988 1839 2137 0 0 0 0 0 0 14.66 14.15 14.68

6313 0.49 232.3 3570 3676 1838 2135 77.4 8.8 388 6325 0.00 2.60 0.00 0.000 1030 0.000 0.091 3570 2244 1986 1838 2135 0 0 0 0 0 0 14.38 14.24 14.42

6540 0.49 232.3 3570 2244 1838 2135 61.1 7.5 400 6551 0.00 2.55 0.00 0.000 516 0.000 0.102 3570 827 1990 1839 2141 0 0 0 0 0 0 14.66 14.20 14.69

6632 0.51 232.3 3570 826 1839 2135 55.3 6.2 415 6643 0.00 2.58 0.00 0.000 1030 0.000 0.092 3570 2266 1986 1838 2135 0 0 0 0 0 0 14.35 14.22 14.40

6839 0.51 232.3 3570 2266 1839 2135 41.5 6.9 424 6850 0.00 2.58 0.00 0.000 516 0.000 0.099 3570 841 1987 1839 2135 0 0 0 0 0 0 14.66 14.18 14.67

6941 0.54 300.6 3568 841 1839 2135 36.6 4.2 441 7002 0.00 2.50 48.28 0.761 9222 0.000 0.088 3570 2245 1711 1564 1858 0 0 0 0 0 0 14.35 14.21 13.83

7200 0.58 300.6 3570 2245 1563 1855 23.4 5.6 460 7211 0.00 2.60 0.00 0.000 260 0.000 0.100 3570 3666 1708 1561 1855 0 0 0 0 0 0 14.57 14.18 14.59

7429 0.62 389.0 3570 3666 1559 1854 12.8 3.3 503 7482 0.00 2.58 39.70 0.135 9222 0.000 0.090 3570 2251 1354 1212 1496 0 0 0 0 0 0 14.33 14.20 14.09

7639 end climb: SURFACE_DEPTH_REACHED

state 7639 begin surface coast

7700 end surface coast: CONTROL_FINISHED_OK

state 7700 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	386	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	22	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	16	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	260915,195209,4751.0840,-12512.8584,36,0.9,37,16.5,0.4,43.5,8,8.1	SPEED_LIMITS	0.127,0.207
_CALLS	3	TGT_NAME	OFFSHORE
_XMS_NAKs	1	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	212.6,165375,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-78.5	D_GRID	312
GPS2	260915,201142,4751.0693,-12512.5947,3,1.0,7,16.5,0.9,147.5,7,9.4

FINISH	1.1,1.023533	_10V_AH	13.08,0.000
SM_CCo	7732,4.75,0.084,0,0,1309,400.08	FG_AHR_24Vo	0.000
SM_GC	2.46,9.62,0.65,4.75,0.036,0.095,0.084,82,1886,1309,-10.26,0.28,400.08,0,0,0,0,0,0,14.35,14.27,14.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12509.51,260915,195920	MEM	286372
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	16753,521
HUMID	51.49	CAP_FILE_SIZE	107795,0
INTERNAL_PRESSURE	9.11829	CFSIZE	260034560,211210240
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.040,203.74,1
SC_FREEKB	3784000	GPS	260915,222256,4750.380,-12513.682,33,0.7,51,16.5,0.2,196.6,12,4.5
_24V_AH	12.57,105.528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	363	112.93	nil	0	0	0.00
Roll_motor	93	106	124.54	nil	0	0	0.00
VBD_pump_during_apogee	337	1080	4589.17	nil	0	0	0.00
VBD_pump_during_surface	4	84	5.02	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	7756	7	733.93
Iridium_during_xfer	745	117	1096.12	PMAR	3231	9	373.12
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	15	1.72
TT8	1063	10	151.27
LPSleep	5052	2	144.72
TT8_Active	463	10	65.90
TT8_Sampling	1739	29	673.60
TT8_CF8	587	35	273.46
TT8_Kalman	0	0	0.00
Analog_circuits	1883	11	285.75
GPS_charging	0	0	0.00
Compass	776	16	167.44
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	87	1881	1205	1428	0.0	0.0	0	107	0.00	0.00	-71.70	0.000	16390	0.000	0.000	81	1876	3378	3376	3380	0	0	0	0	0	0	14.54	12.57	14.52
114	-0.39	-107.1	83	1880	3377	3381	2.5	-4.2	2	136	14.15	2.58	0.00	0.000	2308	0.363	0.086	3247	3313	3379	3377	3382	0	0	0	0	0	0	13.84	14.20	14.08
279	-0.39	-107.1	3247	3316	3376	3389	44.6	-12.6	33	288	0.00	2.55	0.00	0.000	1030	0.000	0.088	3246	1906	3383	3376	3390	0	0	0	0	0	0	14.32	14.17	14.32
494	-0.39	-107.1	3247	1906	3373	3395	73.2	-12.8	44	501	0.00	2.55	0.00	0.000	516	0.000	0.099	3247	480	3384	3373	3395	0	0	0	0	0	0	14.59	14.16	14.60
587	-0.39	-107.1	3247	479	3373	3395	84.8	-11.1	61	597	0.00	2.53	0.00	0.000	1030	0.000	0.085	3247	1899	3383	3372	3395	0	0	0	0	0	0	14.33	14.19	14.39
773	-0.39	-107.1	3247	1895	3373	3396	103.7	-10.4	68	780	0.00	2.58	0.00	0.000	260	0.000	0.101	3247	3322	3384	3373	3396	0	0	0	0	0	0	14.62	14.16	14.63
845	-0.39	-107.1	3247	3326	3373	3396	111.3	-10.0	81	854	0.00	2.55	0.00	0.000	1030	0.000	0.085	3247	1888	3384	3372	3396	0	0	0	0	0	0	14.33	14.21	14.38
1062	-0.39	-107.1	3246	1888	3372	3396	131.7	-9.3	92	1069	0.00	2.50	0.00	0.000	516	0.000	0.099	3247	488	3384	3372	3396	0	0	0	0	0	0	14.61	14.12	14.62
1115	-0.39	-107.1	3247	488	3368	3396	137.7	-10.9	101	1123	0.00	2.50	0.00	0.000	1030	0.000	0.086	3245	1899	3384	3372	3396	0	0	0	0	0	0	14.35	14.22	14.40
1321	-0.39	-107.1	3250	1899	3370	3396	156.5	-8.9	110	1329	0.00	2.55	0.00	0.000	260	0.000	0.101	3247	3318	3383	3370	3396	0	0	0	0	0	0	14.63	14.19	14.64
1360	-0.39	-107.1	3246	3322	3370	3395	159.9	-8.4	116	1367	0.00	2.53	0.00	0.000	1030	0.000	0.087	3248	1907	3383	3370	3396	0	0	0	0	0	0	14.35	14.21	14.40
1579	-0.39	-107.1	3246	1907	3369	3396	180.0	-9.5	128	1582	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	1907	3382	3369	3396	0	0	0	0	0	0	14.66	14.65	14.64
1760	-0.39	-107.1	3247	1907	3368	3395	197.9	-10.0	134	1767	0.00	2.58	0.00	0.000	260	0.000	0.101	3247	3320	3381	3368	3395	0	0	0	0	0	0	14.63	14.16	14.66
1808	-0.39	-107.1	3244	3320	3368	3396	202.6	-9.2	142	1815	0.00	2.55	0.00	0.000	1030	0.000	0.087	3247	1894	3382	3368	3396	0	0	0	0	0	0	14.35	14.23	14.38
2017	-0.39	-107.1	3246	1894	3366	3396	222.5	-9.5	152	2025	0.00	2.53	0.00	0.000	516	0.000	0.100	3247	482	3381	3366	3396	0	0	0	0	0	0	14.63	14.17	14.64
2050	-0.39	-107.1	3244	479	3366	3396	225.9	-10.1	157	2060	0.00	2.53	0.00	0.000	1030	0.000	0.087	3247	1898	3380	3365	3396	0	0	0	0	0	0	14.34	14.21	14.38
2236	-0.39	-107.1	3247	1899	3364	3396	243.2	-9.3	164	2239	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	1899	3377	3359	3396	0	0	0	0	0	0	14.64	14.65	14.65
2447	-0.39	-107.1	3246	1899	3362	3396	262.4	-9.1	169	2451	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	1902	3379	3363	3396	0	0	0	0	0	0	14.64	14.65	14.65
2747	-0.39	-107.1	3247	1897	3361	3396	287.0	-8.2	174	2750	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	1899	3378	3360	3396	0	0	0	0	0	0	14.65	14.67	14.67
3041	end dive: TARGET_DEPTH_EXCEEDED
state	3042	begin apogee
3053	-0.16	0.0	3251	2262	3358	3396	314.8	-9.3	179	3137	0.30	0.00	78.40	1.081	10246	0.177	0.000	3337	2262	2940	2879	3001	0	0	0	0	0	0	14.10	14.16	13.57
3140	end apogee: CONTROL_FINISHED_OK
state	3140	begin climb
3146	0.39	107.1	3338	2262	2879	2999	318.6	0.0	180	3235	0.50	0.00	78.90	1.059	10758	0.120	0.000	3515	2261	2500	2374	2627	0	0	0	0	0	0	14.10	13.98	13.42
3582	0.43	181.1	3515	2262	2372	2624	306.1	3.9	209	3644	0.00	0.00	54.35	1.056	8198	0.000	0.000	3515	2262	2200	2051	2350	0	0	0	0	0	0	14.54	14.15	13.56
3941	0.45	232.3	3515	2262	2051	2349	288.4	5.0	215	3991	0.00	2.60	38.12	1.036	8708	0.000	0.102	3516	841	1991	1840	2142	0	0	0	0	0	0	14.55	14.18	13.64
4032	0.49	232.3	3516	841	1840	2138	283.9	5.6	231	4044	0.08	2.53	0.00	0.000	3078	0.146	0.090	3580	2245	1990	1840	2140	0	0	0	0	0	0	14.20	14.13	14.29
4389	0.49	232.3	3580	2245	1840	2140	251.5	9.3	244	4400	0.00	2.58	0.00	0.000	260	0.000	0.103	3580	3663	1991	1841	2141	0	0	0	0	0	0	14.61	14.21	14.62
4482	0.49	232.3	3579	3663	1840	2136	240.7	11.7	260	4493	0.00	2.55	0.00	0.000	1030	0.000	0.090	3582	2252	1990	1840	2140	0	0	0	0	0	0	14.38	14.25	14.42
4685	0.49	232.3	3582	2252	1840	2140	220.0	9.8	268	4697	0.08	2.55	0.00	0.000	4612	0.247	0.098	3556	831	1990	1841	2140	0	0	0	0	0	0	14.18	14.23	14.28
4780	0.49	232.3	3557	831	1840	2139	212.4	8.4	283	4791	0.00	2.55	0.00	0.000	1030	0.000	0.092	3559	2265	1989	1838	2140	0	0	0	0	0	0	14.39	14.26	14.43
4987	0.49	232.3	3559	2265	1840	2139	195.3	7.9	292	4998	0.00	2.55	0.00	0.000	260	0.000	0.106	3560	3662	1989	1839	2139	0	0	0	0	0	0	14.67	14.23	14.68
5024	0.49	232.3	3559	3662	1839	2139	191.8	9.3	297	5037	0.00	2.55	0.00	0.000	1030	0.000	0.089	3569	2246	1992	1846	2138	0	0	0	0	0	0	14.40	14.27	14.44
5209	0.49	232.3	3569	2246	1839	2138	174.8	9.2	304	5221	0.00	2.53	0.00	0.000	516	0.000	0.101	3570	841	1988	1839	2137	0	0	0	0	0	0	14.65	14.22	14.67
5252	0.49	232.3	3569	841	1839	2138	171.0	9.1	310	5263	0.00	2.53	0.00	0.000	1030	0.000	0.093	3570	2248	1988	1839	2138	0	0	0	0	0	0	14.40	14.26	14.44
5480	0.49	232.3	3570	2248	1839	2138	149.8	9.4	322	5491	0.00	2.58	0.00	0.000	260	0.000	0.105	3570	3663	1988	1838	2138	0	0	0	0	0	0	14.65	14.20	14.66
5517	0.49	232.3	3569	3663	1839	2137	145.5	11.0	327	5529	0.00	2.55	0.00	0.000	1030	0.000	0.090	3570	2251	1988	1839	2137	0	0	0	0	0	0	14.38	14.24	14.42
5704	0.49	232.3	3569	2251	1839	2139	127.8	9.5	334	5715	0.00	2.55	0.00	0.000	516	0.000	0.102	3570	834	1988	1839	2137	0	0	0	0	0	0	14.65	14.21	14.67
5786	0.49	232.3	3570	833	1839	2137	120.1	9.0	348	5797	0.00	2.53	0.00	0.000	1030	0.000	0.090	3570	2245	1989	1841	2137	0	0	0	0	0	0	14.40	14.24	14.43
6004	0.49	232.3	3570	2245	1839	2137	103.2	7.9	358	6014	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2245	1988	1839	2137	0	0	0	0	0	0	14.64	14.66	14.66
6178	0.49	232.3	3570	2245	1838	2137	89.0	7.6	364	6189	0.00	2.62	0.00	0.000	260	0.000	0.104	3570	3678	1988	1839	2137	0	0	0	0	0	0	14.66	14.15	14.68
6313	0.49	232.3	3570	3676	1838	2135	77.4	8.8	388	6325	0.00	2.60	0.00	0.000	1030	0.000	0.091	3570	2244	1986	1838	2135	0	0	0	0	0	0	14.38	14.24	14.42
6540	0.49	232.3	3570	2244	1838	2135	61.1	7.5	400	6551	0.00	2.55	0.00	0.000	516	0.000	0.102	3570	827	1990	1839	2141	0	0	0	0	0	0	14.66	14.20	14.69
6632	0.51	232.3	3570	826	1839	2135	55.3	6.2	415	6643	0.00	2.58	0.00	0.000	1030	0.000	0.092	3570	2266	1986	1838	2135	0	0	0	0	0	0	14.35	14.22	14.40
6839	0.51	232.3	3570	2266	1839	2135	41.5	6.9	424	6850	0.00	2.58	0.00	0.000	516	0.000	0.099	3570	841	1987	1839	2135	0	0	0	0	0	0	14.66	14.18	14.67
6941	0.54	300.6	3568	841	1839	2135	36.6	4.2	441	7002	0.00	2.50	48.28	0.761	9222	0.000	0.088	3570	2245	1711	1564	1858	0	0	0	0	0	0	14.35	14.21	13.83
7200	0.58	300.6	3570	2245	1563	1855	23.4	5.6	460	7211	0.00	2.60	0.00	0.000	260	0.000	0.100	3570	3666	1708	1561	1855	0	0	0	0	0	0	14.57	14.18	14.59
7429	0.62	389.0	3570	3666	1559	1854	12.8	3.3	503	7482	0.00	2.58	39.70	0.135	9222	0.000	0.090	3570	2251	1354	1212	1496	0	0	0	0	0	0	14.33	14.20	14.09
7639	end climb: SURFACE_DEPTH_REACHED
state	7639	begin surface coast
7700	end surface coast: CONTROL_FINISHED_OK
state	7700	begin surface