Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 833 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0093 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 4.5000001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 833 HEADING -1 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_ABORT 1040 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 4 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 470 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 520 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 10 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00039999999 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -1 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1590034 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3195 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0031000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0031000001 PRESSURE_YINT -61.06522 T_DIVE 470

CALL_WAIT 60 HD_B 0.0093 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 4.5000001e-05 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1590034

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 520

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3195 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 10

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2794 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 33 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 26 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.9786949 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1107863 VBD_MIN 470

DIVE 833 NAV_MODE 2 SEABIRD_C_I -0.0017547003 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 NOCOMM_ACTION 163 SEABIRD_C_J 0.0002234884 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 4 N_DIVES 0 SEABIRD_T_G 0.0043543722 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062483409 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3277114e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 190413,203654,4749.154,-12514.802,124,1.1,125,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.14 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.4 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 190413,204331,4749.124,-12514.708,15,1.8,15,18.7 MHEAD_RNG_PITCHd_Wd 279.4,1110,-16.3,-7.021,-20.78

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.2,1.012345 _10V_AH 9.8,86.212

SM_CCo 9851,0.00,0.000,0,0,1378,347.59 FG_AHR_24Vo 0.000

SM_GC 2.26,8.38,0.20,0.00,0.024,0.070,0.000,107,2196,1378,-9.46,0.93,347.59,0,0,0,0,0,0,25.76,25.89,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12542.32,190413,171709 MEM 296788

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 47059,865

HUMID 49.33 CAP_FILE_SIZE 100024,0

INTERNAL_PRESSURE 9.08899 CFSIZE 260165632,188264448

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.160,112.2,1

_24V_AH 23.4,115.821 GPS 190413,232953,4749.521,-12515.685,32,1.0,50,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 216 109.68 SBE_CT 591 24 331.94

Roll_motor 97 77 175.60 SBE_O2 560 19 248.99

VBD_pump_during_apogee 414 823 7993.71 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.13 nil 0 0 0.00

Iridium_during_connect 35 160 131.90 nil 0 0 0.00

Iridium_during_xfer 198 223 1034.81 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.19

TT8 2169 19 421.05

LPSleep 5667 2 121.64

TT8_Active 553 19 107.36

TT8_Sampling 1597 39 623.04

TT8_CF8 273 45 122.84

TT8_Kalman 0 0 0.00

Analog_circuits 1298 12 152.75

GPS_charging 0 0 0.00

Compass 1329 15 195.41

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.55 -96.7 0.0 0.0 0 63 0.00 0.00 -44.12 0.000 2 0.000 0.000 106 2189 2554 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.56 -136.3 3.3 -3.6 8 104 11.57 0.00 -17.50 0.000 6 0.216 0.000 3004 2188 3354 0 0 0 0 0 0 24.56 28.83 26.20

409 -0.56 -136.3 69.1 -16.2 74 416 0.00 2.22 0.00 0.000 4 0.000 0.049 3004 782 3356 0 0 0 0 0 0 28.83 25.17 28.83

449 -0.56 -136.3 75.3 -14.6 81 456 0.00 2.25 0.00 0.000 6 0.000 0.050 2996 2200 3357 0 0 0 0 0 0 28.83 25.15 28.83

763 -0.56 -136.3 118.8 -11.4 142 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2200 3357 0 0 0 0 0 0 28.83 28.83 28.83

1078 -0.56 -136.3 156.1 -11.3 164 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2200 3357 0 0 0 0 0 0 28.83 28.83 28.83

1377 -0.56 -136.3 192.8 -12.8 184 1385 0.00 2.35 0.00 0.000 4 0.000 0.060 2985 3606 3357 0 0 0 0 0 0 28.83 24.87 28.83

1417 -0.56 -136.3 197.8 -12.8 188 1425 0.00 2.28 0.00 0.000 6 0.000 0.042 2985 2186 3357 0 0 0 0 0 0 28.83 25.31 28.83

1743 -0.56 -136.3 237.9 -12.0 205 1747 0.00 2.22 0.00 0.000 4 0.000 0.049 2986 804 3357 0 0 0 0 0 0 28.83 25.06 28.83

1769 -0.56 -136.3 240.5 -12.1 206 1774 0.15 2.28 0.00 0.000 6 0.137 0.050 3015 2201 3357 0 0 0 0 0 0 24.82 25.04 28.83

2071 -0.56 -136.3 268.7 -8.8 221 2077 0.00 2.28 0.00 0.000 4 0.000 0.048 3015 802 3357 0 0 0 0 0 0 28.83 25.03 28.83

2099 -0.56 -136.3 270.6 -8.8 222 2103 0.00 2.30 0.00 0.000 6 0.000 0.050 3009 2210 3357 0 0 0 0 0 0 28.83 25.02 28.83

2403 -0.56 -136.3 299.9 -9.2 237 2407 0.00 2.35 0.00 0.000 4 0.000 0.062 2998 3610 3357 0 0 0 0 0 0 28.83 24.78 28.83

2449 -0.56 -136.3 303.7 -9.4 239 2454 0.00 2.28 0.00 0.000 6 0.000 0.043 2998 2203 3357 0 0 0 0 0 0 28.83 25.25 28.83

2753 -0.56 -136.3 335.1 -10.1 254 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2198 3357 0 0 0 0 0 0 28.83 28.83 28.83

3051 -0.56 -136.3 365.2 -10.5 269 3057 0.00 2.38 0.00 0.000 4 0.000 0.062 2988 3603 3357 0 0 0 0 0 0 28.83 24.73 28.83

3079 -0.56 -136.3 367.4 -10.6 270 3084 0.00 2.28 0.00 0.000 6 0.000 0.043 2988 2202 3357 0 0 0 0 0 0 28.83 25.22 28.83

3393 -0.56 -136.3 405.0 -11.5 285 3397 0.00 2.28 0.00 0.000 4 0.000 0.051 2987 794 3356 0 0 0 0 0 0 28.83 24.95 28.83

3451 -0.56 -136.3 412.6 -12.2 287 3458 0.12 2.33 0.00 0.000 6 0.145 0.052 3010 2206 3357 0 0 0 0 0 0 24.74 24.91 28.83

3781 -0.56 -136.3 446.7 -9.4 298 3787 0.00 2.35 0.00 0.000 4 0.000 0.063 3002 3602 3356 0 0 0 0 0 0 28.83 24.70 28.83

3819 -0.56 -136.3 449.4 -9.2 299 3823 0.00 2.28 0.00 0.000 6 0.000 0.043 3001 2199 3356 0 0 0 0 0 0 28.83 25.20 28.83

3949 end dive: TARGET_DEPTH_EXCEEDED

state 3949 begin apogee

3957 -0.22 0.0 462.2 -9.1 304 4078 0.35 0.00 117.47 0.824 6 0.110 0.000 3118 2339 2795 0 0 0 0 0 0 25.15 28.83 23.48

4079 end apogee: CONTROL_FINISHED_OK

state 4079 begin climb

4082 0.56 136.3 467.1 0.0 308 4210 0.75 2.38 121.05 0.794 4 0.078 0.063 3373 3732 2238 0 0 0 0 0 0 24.68 24.62 23.36

4245 0.58 169.6 460.6 5.3 313 4280 0.00 2.28 30.12 0.779 6 0.000 0.045 3383 2323 2102 0 0 0 0 0 0 28.83 25.10 23.42

4591 0.58 169.6 428.5 11.2 325 4597 0.00 2.35 0.00 0.000 4 0.000 0.063 3383 3719 2094 0 0 0 0 0 0 28.83 25.28 28.83

4629 0.58 169.6 425.0 11.6 326 4634 0.00 2.28 0.00 0.000 6 0.000 0.047 3393 2326 2093 0 0 0 0 0 0 28.83 25.46 28.83

4943 0.58 169.6 391.8 10.0 338 4947 0.00 2.30 0.00 0.000 4 0.000 0.054 3403 914 2092 0 0 0 0 0 0 28.83 25.25 28.83

5010 0.58 169.6 385.7 10.0 341 5014 0.00 2.30 0.00 0.000 6 0.000 0.053 3403 2318 2091 0 0 0 0 0 0 28.83 25.24 28.83

5313 0.58 169.6 354.9 9.4 356 5314 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2318 2091 0 0 0 0 0 0 28.83 28.83 28.83

5613 0.58 169.6 325.4 10.1 371 5617 0.00 2.35 0.00 0.000 4 0.000 0.065 3403 3737 2091 0 0 0 0 0 0 28.83 24.96 28.83

5661 0.58 169.6 320.8 10.9 373 5671 0.12 2.33 0.00 0.000 6 0.157 0.046 3382 2320 2090 0 0 0 0 0 0 25.06 25.32 28.83

5973 0.58 169.6 291.0 9.1 389 5977 0.00 2.40 0.00 0.000 4 0.000 0.065 3382 3734 2090 0 0 0 0 0 0 28.83 24.91 28.83

6020 0.58 169.6 287.1 9.5 391 6024 0.00 2.33 0.00 0.000 6 0.000 0.046 3390 2316 2090 0 0 0 0 0 0 28.83 25.28 28.83

6323 0.58 169.6 258.4 8.9 406 6327 0.00 2.25 0.00 0.000 4 0.000 0.054 3401 913 2090 0 0 0 0 0 0 28.83 25.03 28.83

6371 0.58 169.6 254.8 8.8 408 6380 0.00 2.33 0.00 0.000 6 0.000 0.054 3401 2326 2089 0 0 0 0 0 0 28.83 25.05 28.83

6683 0.58 169.6 224.7 9.1 424 6687 0.00 2.33 0.00 0.000 4 0.000 0.065 3400 3734 2089 0 0 0 0 0 0 28.83 24.84 28.83

6762 0.58 169.6 216.2 10.7 428 6768 0.08 2.30 0.00 0.000 6 0.133 0.046 3386 2326 2089 0 0 0 0 0 0 24.96 25.24 28.83

7084 0.58 169.6 188.9 8.2 446 7091 0.00 2.25 0.00 0.000 4 0.000 0.054 3394 917 2089 0 0 0 0 0 0 28.83 24.99 28.83

7152 0.58 169.6 183.0 8.3 453 7161 0.00 2.33 0.00 0.000 6 0.000 0.053 3394 2330 2089 0 0 0 0 0 0 28.83 25.00 28.83

7462 0.58 169.6 155.5 9.1 474 7471 0.00 2.38 0.00 0.000 4 0.000 0.065 3394 3739 2088 0 0 0 0 0 0 28.83 24.79 28.83

7563 0.58 169.6 145.5 9.9 484 7571 0.00 2.25 0.00 0.000 6 0.000 0.045 3405 2318 2088 0 0 0 0 0 0 28.83 25.21 28.83

7872 0.58 169.6 120.0 7.3 505 7881 0.00 2.40 0.00 0.000 4 0.000 0.064 3404 3728 2088 0 0 0 0 0 0 28.83 24.77 28.83

7990 0.58 169.6 109.8 8.6 527 7998 0.12 2.22 0.00 0.000 6 0.155 0.044 3383 2317 2087 0 0 0 0 0 0 24.95 25.23 28.83

8306 0.58 172.6 89.1 6.9 588 8311 0.00 0.00 0.00 0.000 6 0.000 0.000 3383 2316 2088 0 0 0 0 0 0 28.83 28.83 28.83

8618 0.59 206.6 70.2 5.2 649 8655 0.00 2.33 30.42 0.588 4 0.000 0.053 3387 920 1950 0 0 0 0 0 0 28.83 25.14 24.00

8685 0.61 252.7 66.8 4.6 660 8733 0.00 2.25 39.88 0.580 6 0.000 0.052 3388 2334 1762 0 0 0 0 0 0 28.83 25.19 23.86

9046 0.63 298.3 46.9 4.6 728 9090 0.00 2.38 37.85 0.568 4 0.000 0.053 3391 914 1576 0 0 0 0 0 0 28.83 25.25 24.01

9133 0.65 343.7 43.0 4.6 743 9180 0.00 2.25 37.83 0.552 6 0.000 0.052 3391 2333 1391 0 0 0 0 0 0 28.83 25.32 23.91

9489 0.65 343.7 19.4 7.7 811 9496 0.00 2.28 0.00 0.000 4 0.000 0.051 3391 920 1383 0 0 0 0 0 0 28.83 25.25 28.83

9625 0.65 343.7 8.8 7.5 837 9632 0.00 2.25 0.00 0.000 6 0.000 0.053 3391 2328 1382 0 0 0 0 0 0 28.83 25.21 28.83

9703 end climb: SURFACE_DEPTH_REACHED

state 9703 begin surface coast

9771 end surface coast: CONTROL_FINISHED_OK

state 9771 begin surface

ID	187	HD_B	0.0093	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	4.5000001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	833	HEADING	-1	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_ABORT	1040	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	4	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	470	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	520	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	10	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00039999999	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1590034	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3195	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0031000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	190413,203654,4749.154,-12514.802,124,1.1,125,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.14	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.4	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	190413,204331,4749.124,-12514.708,15,1.8,15,18.7	MHEAD_RNG_PITCHd_Wd	279.4,1110,-16.3,-7.021,-20.78
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	1.2,1.012345	_10V_AH	9.8,86.212
SM_CCo	9851,0.00,0.000,0,0,1378,347.59	FG_AHR_24Vo	0.000
SM_GC	2.26,8.38,0.20,0.00,0.024,0.070,0.000,107,2196,1378,-9.46,0.93,347.59,0,0,0,0,0,0,25.76,25.89,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12542.32,190413,171709	MEM	296788
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	47059,865
HUMID	49.33	CAP_FILE_SIZE	100024,0
INTERNAL_PRESSURE	9.08899	CFSIZE	260165632,188264448
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.160,112.2,1
_24V_AH	23.4,115.821	GPS	190413,232953,4749.521,-12515.685,32,1.0,50,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	216	109.68	SBE_CT	591	24	331.94
Roll_motor	97	77	175.60	SBE_O2	560	19	248.99
VBD_pump_during_apogee	414	823	7993.71	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.13	nil	0	0	0.00
Iridium_during_connect	35	160	131.90	nil	0	0	0.00
Iridium_during_xfer	198	223	1034.81	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.19
TT8	2169	19	421.05
LPSleep	5667	2	121.64
TT8_Active	553	19	107.36
TT8_Sampling	1597	39	623.04
TT8_CF8	273	45	122.84
TT8_Kalman	0	0	0.00
Analog_circuits	1298	12	152.75
GPS_charging	0	0	0.00
Compass	1329	15	195.41
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.55	-96.7	0.0	0.0	0	63	0.00	0.00	-44.12	0.000	2	0.000	0.000	106	2189	2554	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.56	-136.3	3.3	-3.6	8	104	11.57	0.00	-17.50	0.000	6	0.216	0.000	3004	2188	3354	0	0	0	0	0	0	24.56	28.83	26.20
409	-0.56	-136.3	69.1	-16.2	74	416	0.00	2.22	0.00	0.000	4	0.000	0.049	3004	782	3356	0	0	0	0	0	0	28.83	25.17	28.83
449	-0.56	-136.3	75.3	-14.6	81	456	0.00	2.25	0.00	0.000	6	0.000	0.050	2996	2200	3357	0	0	0	0	0	0	28.83	25.15	28.83
763	-0.56	-136.3	118.8	-11.4	142	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2200	3357	0	0	0	0	0	0	28.83	28.83	28.83
1078	-0.56	-136.3	156.1	-11.3	164	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2200	3357	0	0	0	0	0	0	28.83	28.83	28.83
1377	-0.56	-136.3	192.8	-12.8	184	1385	0.00	2.35	0.00	0.000	4	0.000	0.060	2985	3606	3357	0	0	0	0	0	0	28.83	24.87	28.83
1417	-0.56	-136.3	197.8	-12.8	188	1425	0.00	2.28	0.00	0.000	6	0.000	0.042	2985	2186	3357	0	0	0	0	0	0	28.83	25.31	28.83
1743	-0.56	-136.3	237.9	-12.0	205	1747	0.00	2.22	0.00	0.000	4	0.000	0.049	2986	804	3357	0	0	0	0	0	0	28.83	25.06	28.83
1769	-0.56	-136.3	240.5	-12.1	206	1774	0.15	2.28	0.00	0.000	6	0.137	0.050	3015	2201	3357	0	0	0	0	0	0	24.82	25.04	28.83
2071	-0.56	-136.3	268.7	-8.8	221	2077	0.00	2.28	0.00	0.000	4	0.000	0.048	3015	802	3357	0	0	0	0	0	0	28.83	25.03	28.83
2099	-0.56	-136.3	270.6	-8.8	222	2103	0.00	2.30	0.00	0.000	6	0.000	0.050	3009	2210	3357	0	0	0	0	0	0	28.83	25.02	28.83
2403	-0.56	-136.3	299.9	-9.2	237	2407	0.00	2.35	0.00	0.000	4	0.000	0.062	2998	3610	3357	0	0	0	0	0	0	28.83	24.78	28.83
2449	-0.56	-136.3	303.7	-9.4	239	2454	0.00	2.28	0.00	0.000	6	0.000	0.043	2998	2203	3357	0	0	0	0	0	0	28.83	25.25	28.83
2753	-0.56	-136.3	335.1	-10.1	254	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2198	3357	0	0	0	0	0	0	28.83	28.83	28.83
3051	-0.56	-136.3	365.2	-10.5	269	3057	0.00	2.38	0.00	0.000	4	0.000	0.062	2988	3603	3357	0	0	0	0	0	0	28.83	24.73	28.83
3079	-0.56	-136.3	367.4	-10.6	270	3084	0.00	2.28	0.00	0.000	6	0.000	0.043	2988	2202	3357	0	0	0	0	0	0	28.83	25.22	28.83
3393	-0.56	-136.3	405.0	-11.5	285	3397	0.00	2.28	0.00	0.000	4	0.000	0.051	2987	794	3356	0	0	0	0	0	0	28.83	24.95	28.83
3451	-0.56	-136.3	412.6	-12.2	287	3458	0.12	2.33	0.00	0.000	6	0.145	0.052	3010	2206	3357	0	0	0	0	0	0	24.74	24.91	28.83
3781	-0.56	-136.3	446.7	-9.4	298	3787	0.00	2.35	0.00	0.000	4	0.000	0.063	3002	3602	3356	0	0	0	0	0	0	28.83	24.70	28.83
3819	-0.56	-136.3	449.4	-9.2	299	3823	0.00	2.28	0.00	0.000	6	0.000	0.043	3001	2199	3356	0	0	0	0	0	0	28.83	25.20	28.83
3949	end dive: TARGET_DEPTH_EXCEEDED
state	3949	begin apogee
3957	-0.22	0.0	462.2	-9.1	304	4078	0.35	0.00	117.47	0.824	6	0.110	0.000	3118	2339	2795	0	0	0	0	0	0	25.15	28.83	23.48
4079	end apogee: CONTROL_FINISHED_OK
state	4079	begin climb
4082	0.56	136.3	467.1	0.0	308	4210	0.75	2.38	121.05	0.794	4	0.078	0.063	3373	3732	2238	0	0	0	0	0	0	24.68	24.62	23.36
4245	0.58	169.6	460.6	5.3	313	4280	0.00	2.28	30.12	0.779	6	0.000	0.045	3383	2323	2102	0	0	0	0	0	0	28.83	25.10	23.42
4591	0.58	169.6	428.5	11.2	325	4597	0.00	2.35	0.00	0.000	4	0.000	0.063	3383	3719	2094	0	0	0	0	0	0	28.83	25.28	28.83
4629	0.58	169.6	425.0	11.6	326	4634	0.00	2.28	0.00	0.000	6	0.000	0.047	3393	2326	2093	0	0	0	0	0	0	28.83	25.46	28.83
4943	0.58	169.6	391.8	10.0	338	4947	0.00	2.30	0.00	0.000	4	0.000	0.054	3403	914	2092	0	0	0	0	0	0	28.83	25.25	28.83
5010	0.58	169.6	385.7	10.0	341	5014	0.00	2.30	0.00	0.000	6	0.000	0.053	3403	2318	2091	0	0	0	0	0	0	28.83	25.24	28.83
5313	0.58	169.6	354.9	9.4	356	5314	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2318	2091	0	0	0	0	0	0	28.83	28.83	28.83
5613	0.58	169.6	325.4	10.1	371	5617	0.00	2.35	0.00	0.000	4	0.000	0.065	3403	3737	2091	0	0	0	0	0	0	28.83	24.96	28.83
5661	0.58	169.6	320.8	10.9	373	5671	0.12	2.33	0.00	0.000	6	0.157	0.046	3382	2320	2090	0	0	0	0	0	0	25.06	25.32	28.83
5973	0.58	169.6	291.0	9.1	389	5977	0.00	2.40	0.00	0.000	4	0.000	0.065	3382	3734	2090	0	0	0	0	0	0	28.83	24.91	28.83
6020	0.58	169.6	287.1	9.5	391	6024	0.00	2.33	0.00	0.000	6	0.000	0.046	3390	2316	2090	0	0	0	0	0	0	28.83	25.28	28.83
6323	0.58	169.6	258.4	8.9	406	6327	0.00	2.25	0.00	0.000	4	0.000	0.054	3401	913	2090	0	0	0	0	0	0	28.83	25.03	28.83
6371	0.58	169.6	254.8	8.8	408	6380	0.00	2.33	0.00	0.000	6	0.000	0.054	3401	2326	2089	0	0	0	0	0	0	28.83	25.05	28.83
6683	0.58	169.6	224.7	9.1	424	6687	0.00	2.33	0.00	0.000	4	0.000	0.065	3400	3734	2089	0	0	0	0	0	0	28.83	24.84	28.83
6762	0.58	169.6	216.2	10.7	428	6768	0.08	2.30	0.00	0.000	6	0.133	0.046	3386	2326	2089	0	0	0	0	0	0	24.96	25.24	28.83
7084	0.58	169.6	188.9	8.2	446	7091	0.00	2.25	0.00	0.000	4	0.000	0.054	3394	917	2089	0	0	0	0	0	0	28.83	24.99	28.83
7152	0.58	169.6	183.0	8.3	453	7161	0.00	2.33	0.00	0.000	6	0.000	0.053	3394	2330	2089	0	0	0	0	0	0	28.83	25.00	28.83
7462	0.58	169.6	155.5	9.1	474	7471	0.00	2.38	0.00	0.000	4	0.000	0.065	3394	3739	2088	0	0	0	0	0	0	28.83	24.79	28.83
7563	0.58	169.6	145.5	9.9	484	7571	0.00	2.25	0.00	0.000	6	0.000	0.045	3405	2318	2088	0	0	0	0	0	0	28.83	25.21	28.83
7872	0.58	169.6	120.0	7.3	505	7881	0.00	2.40	0.00	0.000	4	0.000	0.064	3404	3728	2088	0	0	0	0	0	0	28.83	24.77	28.83
7990	0.58	169.6	109.8	8.6	527	7998	0.12	2.22	0.00	0.000	6	0.155	0.044	3383	2317	2087	0	0	0	0	0	0	24.95	25.23	28.83
8306	0.58	172.6	89.1	6.9	588	8311	0.00	0.00	0.00	0.000	6	0.000	0.000	3383	2316	2088	0	0	0	0	0	0	28.83	28.83	28.83
8618	0.59	206.6	70.2	5.2	649	8655	0.00	2.33	30.42	0.588	4	0.000	0.053	3387	920	1950	0	0	0	0	0	0	28.83	25.14	24.00
8685	0.61	252.7	66.8	4.6	660	8733	0.00	2.25	39.88	0.580	6	0.000	0.052	3388	2334	1762	0	0	0	0	0	0	28.83	25.19	23.86
9046	0.63	298.3	46.9	4.6	728	9090	0.00	2.38	37.85	0.568	4	0.000	0.053	3391	914	1576	0	0	0	0	0	0	28.83	25.25	24.01
9133	0.65	343.7	43.0	4.6	743	9180	0.00	2.25	37.83	0.552	6	0.000	0.052	3391	2333	1391	0	0	0	0	0	0	28.83	25.32	23.91
9489	0.65	343.7	19.4	7.7	811	9496	0.00	2.28	0.00	0.000	4	0.000	0.051	3391	920	1383	0	0	0	0	0	0	28.83	25.25	28.83
9625	0.65	343.7	8.8	7.5	837	9632	0.00	2.25	0.00	0.000	6	0.000	0.053	3391	2328	1382	0	0	0	0	0	0	28.83	25.21	28.83
9703	end climb: SURFACE_DEPTH_REACHED
state	9703	begin surface coast
9771	end surface coast: CONTROL_FINISHED_OK
state	9771	begin surface