Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 462 * 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 462 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 90 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 54 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 4 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 1 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 3 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 48

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -194786.41 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 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 3200 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 1 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 -194786.41

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 3200 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 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 90 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 54 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 462 N_FILEKB 4 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 3

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 48 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 161213,083506,4749.553,-12516.361,20,1.6,20,17.2 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 2.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,084231,4749.565,-12516.306,17,1.7,17,17.2 MHEAD_RNG_PITCHd_Wd 175.4,159937,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 487

Post-dive calculations and measurements:

FINISH 1.7,1.012459 _24V_AH 24.0,48.480

SM_CCo 8405,82.85,0.057,0,0,1479,375.06 _10V_AH 9.8,48.528

SM_GC 2.67,8.88,1.70,82.85,0.044,0.025,0.057,333,2322,1479,-8.88,2.06,375.06,0,0,0,0,0,0,25.89,26.07,25.78 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12516.60,161213,060616 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 258776

HUMID 56.18 DATA_FILE_SIZE 16766,482

INTERNAL_PRESSURE 9.00425 CAP_FILE_SIZE 110519,0

TCM_TEMP 18.20 CFSIZE 260034560,204357632

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

SC_FREEKB 3790336 CURRENT 0.087,314.9,1

PM_FREEKB 2772000 GPS 161213,110558,4748.977,-12517.071,41,0.8,41,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 236 122.26 nil 0 0 0.00

Roll_motor 61 59 87.64 nil 0 0 0.00

VBD_pump_during_apogee 370 774 6889.58 nil 0 0 0.00

VBD_pump_during_surface 82 57 114.08 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 8386 4 959.02

Iridium_during_xfer 237 122 696.36 PMAR 4279 9 925.80

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 29 5.63

TT8 1428 11 164.44

LPSleep 5170 2 110.96

TT8_Active 491 11 56.58

TT8_Sampling 1484 38 563.08

TT8_CF8 362 49 174.95

TT8_Kalman 0 0 0.00

Analog_circuits 1497 15 234.37

GPS_charging 0 0 0.00

Compass 1068 7 78.41

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.11 -107.1 333 2322 1533 1396 0.0 0.0 0 74 0.00 0.00 -44.00 0.000 16386 0.000 0.000 332 2324 2636 2679 2593 0 0 0 0 0 0 28.83 28.83 28.83

79 -1.11 -107.1 332 2324 2679 2600 3.0 -1.0 8 120 10.12 2.00 -23.05 0.000 18692 0.236 0.060 2832 3587 3450 3491 3410 0 0 0 0 0 0 25.30 25.91 26.39

350 -1.11 -107.1 1856 3585 3486 3414 48.4 -13.7 45 358 0.00 1.83 0.00 0.000 1030 0.000 0.027 2839 2302 3458 3497 3419 0 0 0 0 0 0 28.83 26.20 28.83

667 -1.11 -107.1 2838 2301 3499 3418 89.3 -12.3 62 674 0.00 1.95 0.00 0.000 260 0.000 0.043 2831 3591 3458 3499 3418 0 0 0 0 0 0 28.83 26.07 28.83

829 -1.11 -107.1 2830 3590 3498 3418 108.5 -13.0 69 837 0.00 1.83 0.00 0.000 1030 0.000 0.025 2831 2292 3458 3498 3418 0 0 0 0 0 0 28.83 26.34 28.83

1135 -1.11 -107.1 2830 2292 3499 3418 147.3 -12.6 85 1142 0.00 2.08 0.00 0.000 516 0.000 0.031 2839 917 3458 3499 3418 0 0 0 0 0 0 28.83 26.25 28.83

1175 -1.11 -107.1 2838 917 3499 3418 150.6 -12.8 86 1184 0.00 2.12 0.00 0.000 1030 0.000 0.031 2831 2311 3459 3500 3418 0 0 0 0 0 0 28.83 26.26 28.83

1481 -1.11 -107.1 2831 2311 3500 3418 188.1 -11.2 102 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2311 3459 3500 3418 0 0 0 0 0 0 28.83 28.83 28.83

1784 -1.11 -107.1 2831 2311 3500 3418 222.2 -11.6 117 1791 0.00 2.12 0.00 0.000 516 0.000 0.029 2836 913 3459 3500 3418 0 0 0 0 0 0 28.83 26.29 28.83

1835 -1.11 -107.1 2836 913 3501 3418 228.1 -11.8 119 1842 0.00 2.12 0.00 0.000 1030 0.000 0.031 2829 2305 3459 3500 3418 0 0 0 0 0 0 28.83 26.29 28.83

2157 -1.11 -107.1 2829 2305 3500 3418 265.5 -10.6 135 2163 0.00 1.90 0.00 0.000 260 0.000 0.043 2818 3591 3459 3500 3418 0 0 0 0 0 0 28.83 26.17 28.83

2196 -1.11 -107.1 2819 3591 3499 3418 268.5 -10.7 136 2205 0.00 1.83 0.00 0.000 1030 0.000 0.025 2820 2285 3459 3500 3418 0 0 0 0 0 0 28.83 26.45 28.83

2503 -1.11 -107.1 2820 2286 3500 3419 305.0 -11.5 152 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2285 3459 3500 3418 0 0 0 0 0 0 28.83 28.83 28.83

2806 -1.11 -107.1 2820 2286 3499 3419 342.2 -12.7 167 2812 0.00 1.95 0.00 0.000 260 0.000 0.044 2813 3584 3459 3500 3418 0 0 0 0 0 0 28.83 26.15 28.83

2875 -1.11 -107.1 1824 3582 3489 3416 351.4 -13.3 170 2883 0.00 1.80 0.00 0.000 1030 0.000 0.026 2813 2304 3460 3501 3419 0 0 0 0 0 0 28.83 26.46 28.83

3197 -1.11 -107.1 2812 2304 3499 3418 391.4 -11.7 186 3200 0.12 0.00 0.00 0.000 2054 0.181 0.000 2843 2302 3459 3500 3418 0 0 0 0 0 0 26.24 28.83 28.83

3497 -1.11 -107.1 2843 2302 3499 3418 425.4 -12.1 201 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2302 3458 3499 3418 0 0 0 0 0 0 28.83 28.83 28.83

3799 -1.11 -107.1 2842 2302 3499 3418 460.9 -11.6 216 3806 0.00 1.92 0.00 0.000 260 0.000 0.043 2835 3585 3458 3499 3418 0 0 0 0 0 0 28.83 26.15 28.83

3840 -1.11 -107.1 2835 3585 3498 3418 464.1 -11.5 217 3848 0.00 1.83 0.00 0.000 1030 0.000 0.026 2838 2287 3458 3499 3418 0 0 0 0 0 0 28.83 26.46 28.83

4041 end dive: TARGET_DEPTH_EXCEEDED

state 4041 begin apogee

4049 -0.25 0.0 2838 2029 3498 3418 488.0 -10.6 228 4197 0.88 0.00 136.68 0.774 10246 0.136 0.000 3113 2026 3005 3092 2919 0 0 0 0 0 0 25.29 28.83 24.33

4200 end apogee: CONTROL_FINISHED_OK

state 4200 begin climb

4203 1.11 107.1 3113 2026 3085 2912 492.0 0.0 235 4355 1.27 2.25 132.73 0.756 10756 0.078 0.032 3569 656 2564 2661 2467 0 0 0 0 0 0 25.22 24.82 24.01

4383 1.11 107.1 3569 656 2653 2464 477.2 11.7 244 4394 0.00 2.22 0.00 0.000 1030 0.000 0.030 3569 2029 2558 2652 2464 0 0 0 0 0 0 28.83 25.18 28.83

4709 1.11 107.1 3569 2029 2644 2458 431.1 13.6 260 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 3569 2029 2551 2645 2458 0 0 0 0 0 0 28.83 28.83 28.83

5010 1.11 107.1 3569 2029 2642 2456 390.0 13.3 275 5021 0.00 2.12 0.00 0.000 260 0.000 0.042 3560 3439 2549 2642 2456 0 0 0 0 0 0 28.83 26.04 28.83

5112 1.11 107.1 3560 3439 2640 2455 378.0 13.3 279 5123 0.00 2.05 0.00 0.000 1030 0.000 0.026 3568 2028 2548 2642 2455 0 0 0 0 0 0 28.83 26.26 28.83

5433 1.11 107.1 3568 2027 2640 2454 336.5 12.7 295 5444 0.00 2.15 0.00 0.000 516 0.000 0.034 3578 634 2547 2640 2454 0 0 0 0 0 0 28.83 26.18 28.83

5526 1.11 107.1 3578 634 2640 2453 324.6 13.1 299 5537 0.00 2.17 0.00 0.000 1030 0.000 0.031 3578 2042 2547 2640 2454 0 0 0 0 0 0 28.83 26.25 28.83

5856 1.11 107.1 3578 2042 2640 2453 279.9 14.3 315 5867 0.00 2.08 0.00 0.000 260 0.000 0.041 3578 3425 2546 2640 2453 0 0 0 0 0 0 28.83 26.16 28.83

5930 1.11 107.1 3578 3425 2640 2453 269.7 14.6 318 5941 0.12 2.03 0.00 0.000 5126 0.167 0.025 3558 2025 2545 2639 2452 0 0 0 0 0 0 25.96 26.39 28.83

6255 1.11 107.1 3558 2015 2639 2453 226.7 13.0 334 6266 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2015 2545 2639 2452 0 0 0 0 0 0 28.83 28.83 28.83

6555 1.11 107.1 3557 2015 2638 2452 187.6 12.6 349 6566 0.00 2.12 0.00 0.000 260 0.000 0.041 3551 3422 2545 2638 2452 0 0 0 0 0 0 28.83 26.19 28.83

6595 1.11 107.1 3551 3423 2638 2452 183.5 12.9 350 6606 0.00 2.03 0.00 0.000 1030 0.000 0.025 3560 2015 2545 2638 2452 0 0 0 0 0 0 28.83 26.44 28.83

6915 1.11 107.1 3559 2015 2637 2452 143.8 11.5 366 6925 0.00 0.00 0.00 0.000 6 0.000 0.000 3560 2015 2544 2637 2452 0 0 0 0 0 0 28.83 28.83 28.83

7215 1.11 107.1 3560 2015 2637 2451 109.8 11.1 381 7226 0.00 2.10 0.00 0.000 516 0.000 0.034 3569 637 2544 2637 2451 0 0 0 0 0 0 28.83 26.26 28.83

7301 1.11 107.1 3569 637 2636 2451 101.8 11.1 384 7313 0.00 2.12 0.00 0.000 1030 0.000 0.030 3569 2031 2543 2636 2451 0 0 0 0 0 0 28.83 26.35 28.83

7606 1.11 107.1 3569 2030 2636 2451 68.8 9.3 400 7618 0.00 2.15 0.00 0.000 516 0.000 0.034 3577 645 2543 2636 2451 0 0 0 0 0 0 28.83 26.27 28.83

7719 1.11 107.1 3577 645 2635 2451 59.1 8.6 405 7730 0.00 2.12 0.00 0.000 1030 0.000 0.031 3578 2034 2543 2635 2451 0 0 0 0 0 0 28.83 26.33 28.83

8040 1.36 189.5 3577 2034 2635 2451 36.2 3.9 431 8161 0.15 2.20 101.40 0.573 10500 0.090 0.042 3644 3424 2231 2331 2131 0 0 0 0 0 0 26.50 25.54 24.84

8346 end climb: SURFACE_DEPTH_REACHED

state 8347 begin surface coast

8379 end surface coast: CONTROL_FINISHED_OK

state 8379 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	462	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	90	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	54	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	4	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	1	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	3	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	48
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-194786.41	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	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	3200	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	161213,083506,4749.553,-12516.361,20,1.6,20,17.2	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	2.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,084231,4749.565,-12516.306,17,1.7,17,17.2	MHEAD_RNG_PITCHd_Wd	175.4,159937,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	487

FINISH	1.7,1.012459	_24V_AH	24.0,48.480
SM_CCo	8405,82.85,0.057,0,0,1479,375.06	_10V_AH	9.8,48.528
SM_GC	2.67,8.88,1.70,82.85,0.044,0.025,0.057,333,2322,1479,-8.88,2.06,375.06,0,0,0,0,0,0,25.89,26.07,25.78	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12516.60,161213,060616	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	258776
HUMID	56.18	DATA_FILE_SIZE	16766,482
INTERNAL_PRESSURE	9.00425	CAP_FILE_SIZE	110519,0
TCM_TEMP	18.20	CFSIZE	260034560,204357632
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3790336	CURRENT	0.087,314.9,1
PM_FREEKB	2772000	GPS	161213,110558,4748.977,-12517.071,41,0.8,41,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	236	122.26	nil	0	0	0.00
Roll_motor	61	59	87.64	nil	0	0	0.00
VBD_pump_during_apogee	370	774	6889.58	nil	0	0	0.00
VBD_pump_during_surface	82	57	114.08	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	8386	4	959.02
Iridium_during_xfer	237	122	696.36	PMAR	4279	9	925.80
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	29	5.63
TT8	1428	11	164.44
LPSleep	5170	2	110.96
TT8_Active	491	11	56.58
TT8_Sampling	1484	38	563.08
TT8_CF8	362	49	174.95
TT8_Kalman	0	0	0.00
Analog_circuits	1497	15	234.37
GPS_charging	0	0	0.00
Compass	1068	7	78.41
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.11	-107.1	333	2322	1533	1396	0.0	0.0	0	74	0.00	0.00	-44.00	0.000	16386	0.000	0.000	332	2324	2636	2679	2593	0	0	0	0	0	0	28.83	28.83	28.83
79	-1.11	-107.1	332	2324	2679	2600	3.0	-1.0	8	120	10.12	2.00	-23.05	0.000	18692	0.236	0.060	2832	3587	3450	3491	3410	0	0	0	0	0	0	25.30	25.91	26.39
350	-1.11	-107.1	1856	3585	3486	3414	48.4	-13.7	45	358	0.00	1.83	0.00	0.000	1030	0.000	0.027	2839	2302	3458	3497	3419	0	0	0	0	0	0	28.83	26.20	28.83
667	-1.11	-107.1	2838	2301	3499	3418	89.3	-12.3	62	674	0.00	1.95	0.00	0.000	260	0.000	0.043	2831	3591	3458	3499	3418	0	0	0	0	0	0	28.83	26.07	28.83
829	-1.11	-107.1	2830	3590	3498	3418	108.5	-13.0	69	837	0.00	1.83	0.00	0.000	1030	0.000	0.025	2831	2292	3458	3498	3418	0	0	0	0	0	0	28.83	26.34	28.83
1135	-1.11	-107.1	2830	2292	3499	3418	147.3	-12.6	85	1142	0.00	2.08	0.00	0.000	516	0.000	0.031	2839	917	3458	3499	3418	0	0	0	0	0	0	28.83	26.25	28.83
1175	-1.11	-107.1	2838	917	3499	3418	150.6	-12.8	86	1184	0.00	2.12	0.00	0.000	1030	0.000	0.031	2831	2311	3459	3500	3418	0	0	0	0	0	0	28.83	26.26	28.83
1481	-1.11	-107.1	2831	2311	3500	3418	188.1	-11.2	102	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2311	3459	3500	3418	0	0	0	0	0	0	28.83	28.83	28.83
1784	-1.11	-107.1	2831	2311	3500	3418	222.2	-11.6	117	1791	0.00	2.12	0.00	0.000	516	0.000	0.029	2836	913	3459	3500	3418	0	0	0	0	0	0	28.83	26.29	28.83
1835	-1.11	-107.1	2836	913	3501	3418	228.1	-11.8	119	1842	0.00	2.12	0.00	0.000	1030	0.000	0.031	2829	2305	3459	3500	3418	0	0	0	0	0	0	28.83	26.29	28.83
2157	-1.11	-107.1	2829	2305	3500	3418	265.5	-10.6	135	2163	0.00	1.90	0.00	0.000	260	0.000	0.043	2818	3591	3459	3500	3418	0	0	0	0	0	0	28.83	26.17	28.83
2196	-1.11	-107.1	2819	3591	3499	3418	268.5	-10.7	136	2205	0.00	1.83	0.00	0.000	1030	0.000	0.025	2820	2285	3459	3500	3418	0	0	0	0	0	0	28.83	26.45	28.83
2503	-1.11	-107.1	2820	2286	3500	3419	305.0	-11.5	152	2506	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2285	3459	3500	3418	0	0	0	0	0	0	28.83	28.83	28.83
2806	-1.11	-107.1	2820	2286	3499	3419	342.2	-12.7	167	2812	0.00	1.95	0.00	0.000	260	0.000	0.044	2813	3584	3459	3500	3418	0	0	0	0	0	0	28.83	26.15	28.83
2875	-1.11	-107.1	1824	3582	3489	3416	351.4	-13.3	170	2883	0.00	1.80	0.00	0.000	1030	0.000	0.026	2813	2304	3460	3501	3419	0	0	0	0	0	0	28.83	26.46	28.83
3197	-1.11	-107.1	2812	2304	3499	3418	391.4	-11.7	186	3200	0.12	0.00	0.00	0.000	2054	0.181	0.000	2843	2302	3459	3500	3418	0	0	0	0	0	0	26.24	28.83	28.83
3497	-1.11	-107.1	2843	2302	3499	3418	425.4	-12.1	201	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2302	3458	3499	3418	0	0	0	0	0	0	28.83	28.83	28.83
3799	-1.11	-107.1	2842	2302	3499	3418	460.9	-11.6	216	3806	0.00	1.92	0.00	0.000	260	0.000	0.043	2835	3585	3458	3499	3418	0	0	0	0	0	0	28.83	26.15	28.83
3840	-1.11	-107.1	2835	3585	3498	3418	464.1	-11.5	217	3848	0.00	1.83	0.00	0.000	1030	0.000	0.026	2838	2287	3458	3499	3418	0	0	0	0	0	0	28.83	26.46	28.83
4041	end dive: TARGET_DEPTH_EXCEEDED
state	4041	begin apogee
4049	-0.25	0.0	2838	2029	3498	3418	488.0	-10.6	228	4197	0.88	0.00	136.68	0.774	10246	0.136	0.000	3113	2026	3005	3092	2919	0	0	0	0	0	0	25.29	28.83	24.33
4200	end apogee: CONTROL_FINISHED_OK
state	4200	begin climb
4203	1.11	107.1	3113	2026	3085	2912	492.0	0.0	235	4355	1.27	2.25	132.73	0.756	10756	0.078	0.032	3569	656	2564	2661	2467	0	0	0	0	0	0	25.22	24.82	24.01
4383	1.11	107.1	3569	656	2653	2464	477.2	11.7	244	4394	0.00	2.22	0.00	0.000	1030	0.000	0.030	3569	2029	2558	2652	2464	0	0	0	0	0	0	28.83	25.18	28.83
4709	1.11	107.1	3569	2029	2644	2458	431.1	13.6	260	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	3569	2029	2551	2645	2458	0	0	0	0	0	0	28.83	28.83	28.83
5010	1.11	107.1	3569	2029	2642	2456	390.0	13.3	275	5021	0.00	2.12	0.00	0.000	260	0.000	0.042	3560	3439	2549	2642	2456	0	0	0	0	0	0	28.83	26.04	28.83
5112	1.11	107.1	3560	3439	2640	2455	378.0	13.3	279	5123	0.00	2.05	0.00	0.000	1030	0.000	0.026	3568	2028	2548	2642	2455	0	0	0	0	0	0	28.83	26.26	28.83
5433	1.11	107.1	3568	2027	2640	2454	336.5	12.7	295	5444	0.00	2.15	0.00	0.000	516	0.000	0.034	3578	634	2547	2640	2454	0	0	0	0	0	0	28.83	26.18	28.83
5526	1.11	107.1	3578	634	2640	2453	324.6	13.1	299	5537	0.00	2.17	0.00	0.000	1030	0.000	0.031	3578	2042	2547	2640	2454	0	0	0	0	0	0	28.83	26.25	28.83
5856	1.11	107.1	3578	2042	2640	2453	279.9	14.3	315	5867	0.00	2.08	0.00	0.000	260	0.000	0.041	3578	3425	2546	2640	2453	0	0	0	0	0	0	28.83	26.16	28.83
5930	1.11	107.1	3578	3425	2640	2453	269.7	14.6	318	5941	0.12	2.03	0.00	0.000	5126	0.167	0.025	3558	2025	2545	2639	2452	0	0	0	0	0	0	25.96	26.39	28.83
6255	1.11	107.1	3558	2015	2639	2453	226.7	13.0	334	6266	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2015	2545	2639	2452	0	0	0	0	0	0	28.83	28.83	28.83
6555	1.11	107.1	3557	2015	2638	2452	187.6	12.6	349	6566	0.00	2.12	0.00	0.000	260	0.000	0.041	3551	3422	2545	2638	2452	0	0	0	0	0	0	28.83	26.19	28.83
6595	1.11	107.1	3551	3423	2638	2452	183.5	12.9	350	6606	0.00	2.03	0.00	0.000	1030	0.000	0.025	3560	2015	2545	2638	2452	0	0	0	0	0	0	28.83	26.44	28.83
6915	1.11	107.1	3559	2015	2637	2452	143.8	11.5	366	6925	0.00	0.00	0.00	0.000	6	0.000	0.000	3560	2015	2544	2637	2452	0	0	0	0	0	0	28.83	28.83	28.83
7215	1.11	107.1	3560	2015	2637	2451	109.8	11.1	381	7226	0.00	2.10	0.00	0.000	516	0.000	0.034	3569	637	2544	2637	2451	0	0	0	0	0	0	28.83	26.26	28.83
7301	1.11	107.1	3569	637	2636	2451	101.8	11.1	384	7313	0.00	2.12	0.00	0.000	1030	0.000	0.030	3569	2031	2543	2636	2451	0	0	0	0	0	0	28.83	26.35	28.83
7606	1.11	107.1	3569	2030	2636	2451	68.8	9.3	400	7618	0.00	2.15	0.00	0.000	516	0.000	0.034	3577	645	2543	2636	2451	0	0	0	0	0	0	28.83	26.27	28.83
7719	1.11	107.1	3577	645	2635	2451	59.1	8.6	405	7730	0.00	2.12	0.00	0.000	1030	0.000	0.031	3578	2034	2543	2635	2451	0	0	0	0	0	0	28.83	26.33	28.83
8040	1.36	189.5	3577	2034	2635	2451	36.2	3.9	431	8161	0.15	2.20	101.40	0.573	10500	0.090	0.042	3644	3424	2231	2331	2131	0	0	0	0	0	0	26.50	25.54	24.84
8346	end climb: SURFACE_DEPTH_REACHED
state	8347	begin surface coast
8379	end surface coast: CONTROL_FINISHED_OK
state	8379	begin surface