Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 855 * 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 855 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 45 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 -1590061.5 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 -1590061.5

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 45 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 855 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 220413,115659,4749.111,-12515.791,66,1.6,72,18.7 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 2.16 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 220413,120348,4749.056,-12515.764,14,1.6,25,18.7 MHEAD_RNG_PITCHd_Wd 341.8,1194,-17.2,-7.021,-21.51

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.2,1.023508 _10V_AH 9.8,87.522

SM_CCo 10286,0.00,0.000,0,0,1534,309.08 FG_AHR_24Vo 0.000

SM_GC 2.63,8.52,0.17,0.00,0.029,0.075,0.000,111,2192,1534,-9.47,1.10,309.08,0,0,0,0,0,0,25.75,25.76,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12516.60,220413,090906 MEM 296780

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 50170,946

HUMID 50.00 CAP_FILE_SIZE 103192,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,187011072

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

XPDR_PINGS 0 CURRENT 0.063,155.1,1

_24V_AH 23.4,117.595 GPS 220413,145729,4749.877,-12515.705,52,1.4,52,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 225 116.97 SBE_CT 647 24 363.67

Roll_motor 92 81 176.28 SBE_O2 624 19 277.61

VBD_pump_during_apogee 384 827 7440.07 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 62.16 nil 0 0 0.00

Iridium_during_connect 37 160 140.03 nil 0 0 0.00

Iridium_during_xfer 195 223 1018.22 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 50 13.06

TT8 2324 19 450.97

LPSleep 5845 2 125.46

TT8_Active 529 19 102.82

TT8_Sampling 1718 39 670.45

TT8_CF8 289 45 130.07

TT8_Kalman 0 0 0.00

Analog_circuits 1319 12 155.20

GPS_charging 0 0 0.00

Compass 1445 15 212.44

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

16 -0.57 -87.7 0.0 0.0 0 63 0.00 0.00 -44.78 0.000 2 0.000 0.000 103 2197 2562 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.59 -136.3 3.0 -1.7 8 104 11.82 2.22 -17.65 0.000 4 0.226 0.061 2994 804 3352 0 0 0 0 0 0 24.53 25.33 26.17

168 -0.59 -136.3 25.4 -18.3 26 174 0.00 2.20 0.00 0.000 6 0.000 0.050 2986 2199 3354 0 0 0 0 0 0 28.83 25.23 28.83

480 -0.59 -136.3 79.1 -15.0 87 488 0.00 2.22 0.00 0.000 4 0.000 0.049 2987 795 3356 0 0 0 0 0 0 28.83 25.12 28.83

507 -0.59 -136.3 82.8 -14.0 91 515 0.00 2.22 0.00 0.000 6 0.000 0.050 2976 2203 3356 0 0 0 0 0 0 28.83 25.11 28.83

824 -0.59 -136.3 126.1 -13.2 147 834 0.00 2.28 0.00 0.000 4 0.000 0.048 2976 804 3356 0 0 0 0 0 0 28.83 25.08 28.83

885 -0.59 -136.3 134.0 -12.8 153 894 0.10 2.25 0.00 0.000 6 0.125 0.049 2998 2195 3356 0 0 0 0 0 0 24.80 25.08 28.83

1194 -0.59 -136.3 170.7 -11.1 174 1203 0.00 2.28 0.00 0.000 4 0.000 0.048 2998 802 3356 0 0 0 0 0 0 28.83 25.04 28.83

1234 -0.59 -136.3 175.3 -11.6 178 1243 0.00 2.30 0.00 0.000 6 0.000 0.049 2990 2210 3357 0 0 0 0 0 0 28.83 25.03 28.83

1560 -0.59 -136.3 214.9 -12.2 198 1562 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2209 3356 0 0 0 0 0 0 28.83 28.83 28.83

1859 -0.59 -136.3 251.0 -11.9 213 1865 0.00 2.30 0.00 0.000 4 0.000 0.049 2990 805 3356 0 0 0 0 0 0 28.83 24.98 28.83

1928 -0.59 -136.3 257.9 -11.5 216 1937 0.00 2.30 0.00 0.000 6 0.000 0.050 2980 2210 3356 0 0 0 0 0 0 28.83 24.98 28.83

2240 -0.59 -136.3 294.1 -11.2 232 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2210 3356 0 0 0 0 0 0 28.83 28.83 28.83

2539 -0.59 -136.3 328.2 -11.5 247 2545 0.00 2.33 0.00 0.000 4 0.000 0.049 2980 794 3356 0 0 0 0 0 0 28.83 24.94 28.83

2569 -0.59 -136.3 330.5 -11.6 248 2578 0.12 2.33 0.00 0.000 6 0.143 0.050 3002 2209 3356 0 0 0 0 0 0 24.75 24.93 28.83

2881 -0.59 -136.3 362.9 -10.1 264 2882 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2208 3356 0 0 0 0 0 0 28.83 28.83 28.83

3179 -0.59 -136.3 392.8 -10.2 279 3185 0.00 2.38 0.00 0.000 4 0.000 0.063 2993 3606 3356 0 0 0 0 0 0 28.83 24.67 28.83

3250 -0.59 -136.3 399.0 -10.3 282 3258 0.00 2.25 0.00 0.000 6 0.000 0.043 2993 2209 3356 0 0 0 0 0 0 28.83 25.18 28.83

3559 -0.59 -136.3 430.5 -9.6 293 3565 0.00 2.33 0.00 0.000 4 0.000 0.050 2993 793 3356 0 0 0 0 0 0 28.83 24.88 28.83

3657 -0.59 -136.3 439.0 -9.4 296 3662 0.00 2.33 0.00 0.000 6 0.000 0.051 2983 2204 3356 0 0 0 0 0 0 28.83 24.88 28.83

3877 end dive: TARGET_DEPTH_EXCEEDED

state 3877 begin apogee

3885 -0.22 0.0 462.0 -9.9 304 4006 0.43 0.00 117.57 0.828 6 0.112 0.000 3123 2341 2793 0 0 0 0 0 0 24.94 28.83 23.47

4007 end apogee: CONTROL_FINISHED_OK

state 4007 begin climb

4010 0.59 136.3 466.1 0.0 308 4138 0.77 2.38 120.95 0.796 4 0.077 0.063 3385 3730 2238 0 0 0 0 0 0 24.63 24.57 23.35

4181 0.59 136.3 456.7 7.6 313 4185 0.00 2.30 0.00 0.000 6 0.000 0.045 3396 2333 2234 0 0 0 0 0 0 28.83 25.09 28.83

4500 0.59 136.3 423.1 10.1 324 4505 0.00 2.30 0.00 0.000 4 0.000 0.053 3407 920 2228 0 0 0 0 0 0 28.83 25.31 28.83

4578 0.59 136.3 416.9 10.2 326 4582 0.00 2.30 0.00 0.000 6 0.000 0.053 3407 2323 2227 0 0 0 0 0 0 28.83 25.29 28.83

4891 0.59 136.3 382.0 10.3 339 4895 0.00 2.38 0.00 0.000 4 0.000 0.065 3407 3732 2227 0 0 0 0 0 0 28.83 25.07 28.83

4978 0.59 136.3 372.7 11.6 343 4983 0.12 2.30 0.00 0.000 6 0.158 0.046 3387 2321 2225 0 0 0 0 0 0 25.09 25.36 28.83

5280 0.59 136.3 345.3 8.7 358 5285 0.00 2.40 0.00 0.000 4 0.000 0.064 3387 3736 2225 0 0 0 0 0 0 28.83 24.96 28.83

5361 0.59 136.3 337.6 9.7 362 5366 0.00 2.30 0.00 0.000 6 0.000 0.046 3396 2324 2225 0 0 0 0 0 0 28.83 25.29 28.83

5681 0.59 136.3 310.3 8.6 378 5685 0.00 2.35 0.00 0.000 4 0.000 0.064 3395 3733 2225 0 0 0 0 0 0 28.83 24.88 28.83

5708 0.59 136.3 308.4 8.7 379 5712 0.00 2.33 0.00 0.000 6 0.000 0.046 3406 2316 2224 0 0 0 0 0 0 28.83 25.26 28.83

6011 0.59 136.3 280.0 8.9 394 6012 0.00 0.00 0.00 0.000 6 0.000 0.000 3406 2315 2224 0 0 0 0 0 0 28.83 28.83 28.83

6310 0.59 136.3 253.6 8.8 409 6315 0.00 2.42 0.00 0.000 4 0.000 0.064 3406 3737 2224 0 0 0 0 0 0 28.83 24.79 28.83

6411 0.59 136.3 243.4 10.5 414 6416 0.10 2.30 0.00 0.000 6 0.135 0.046 3385 2330 2224 0 0 0 0 0 0 24.86 25.20 28.83

6731 0.59 136.3 219.3 7.4 430 6732 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 2324 2223 0 0 0 0 0 0 28.83 28.83 28.83

7040 0.59 145.1 197.8 6.5 446 7052 0.00 2.42 6.65 0.564 4 0.000 0.064 3385 3742 2201 0 0 0 0 0 0 28.83 25.15 24.08

7131 0.59 145.1 190.7 8.2 455 7140 0.00 2.30 0.00 0.000 6 0.000 0.047 3393 2318 2200 0 0 0 0 0 0 28.83 25.41 28.83

7440 0.59 145.1 167.6 7.8 476 7449 0.00 2.38 0.00 0.000 4 0.000 0.064 3393 3731 2199 0 0 0 0 0 0 28.83 24.88 28.83

7560 0.59 145.1 156.7 9.4 488 7569 0.00 2.28 0.00 0.000 6 0.000 0.046 3403 2324 2199 0 0 0 0 0 0 28.83 25.22 28.83

7871 0.59 145.1 131.2 8.0 509 7879 0.00 2.38 0.00 0.000 4 0.000 0.064 3404 3732 2199 0 0 0 0 0 0 28.83 24.75 28.83

8000 0.59 145.1 120.1 7.7 522 8009 0.00 2.30 0.00 0.000 6 0.000 0.045 3414 2321 2199 0 0 0 0 0 0 28.83 25.17 28.83

8314 0.59 145.1 99.5 7.1 583 8322 0.00 2.35 0.00 0.000 4 0.000 0.064 3414 3736 2199 0 0 0 0 0 0 28.83 24.70 28.83

8552 0.59 145.1 79.7 7.8 629 8559 0.15 2.22 0.00 0.000 6 0.148 0.045 3386 2325 2198 0 0 0 0 0 0 24.82 25.16 28.83

8864 0.61 193.9 66.5 4.2 690 8912 0.00 2.42 42.40 0.595 4 0.000 0.063 3386 3744 2003 0 0 0 0 0 0 28.83 25.08 23.99

9007 0.61 196.1 57.9 6.9 716 9013 0.00 2.25 0.00 0.000 6 0.000 0.045 3394 2317 1997 0 0 0 0 0 0 28.83 25.35 28.83

9320 0.63 225.5 42.4 5.3 777 9350 0.00 0.00 27.08 0.568 6 0.000 0.000 3394 2317 1874 0 0 0 0 0 0 28.83 28.83 24.06

9656 0.64 250.6 22.3 5.6 842 9686 0.00 2.40 21.67 0.549 4 0.000 0.064 3394 3766 1770 0 0 0 0 0 0 28.83 25.26 24.10

9731 0.64 265.8 18.1 6.1 855 9750 0.00 2.28 14.00 0.525 6 0.000 0.044 3403 2316 1709 0 0 0 0 0 0 28.83 25.47 24.03

10056 0.66 321.6 5.2 3.8 918 10092 0.00 0.00 33.80 0.543 2 0.000 0.000 3403 2316 1543 0 0 0 0 0 0 28.83 28.83 28.83

10093 end climb: SURFACE_DEPTH_REACHED

state 10093 begin surface coast

10205 end surface coast: CONTROL_FINISHED_OK

state 10205 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	855	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	45	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	-1590061.5	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	220413,115659,4749.111,-12515.791,66,1.6,72,18.7	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	2.16	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	220413,120348,4749.056,-12515.764,14,1.6,25,18.7	MHEAD_RNG_PITCHd_Wd	341.8,1194,-17.2,-7.021,-21.51
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	1.2,1.023508	_10V_AH	9.8,87.522
SM_CCo	10286,0.00,0.000,0,0,1534,309.08	FG_AHR_24Vo	0.000
SM_GC	2.63,8.52,0.17,0.00,0.029,0.075,0.000,111,2192,1534,-9.47,1.10,309.08,0,0,0,0,0,0,25.75,25.76,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12516.60,220413,090906	MEM	296780
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	50170,946
HUMID	50.00	CAP_FILE_SIZE	103192,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,187011072
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.063,155.1,1
_24V_AH	23.4,117.595	GPS	220413,145729,4749.877,-12515.705,52,1.4,52,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	225	116.97	SBE_CT	647	24	363.67
Roll_motor	92	81	176.28	SBE_O2	624	19	277.61
VBD_pump_during_apogee	384	827	7440.07	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	62.16	nil	0	0	0.00
Iridium_during_connect	37	160	140.03	nil	0	0	0.00
Iridium_during_xfer	195	223	1018.22	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	50	13.06
TT8	2324	19	450.97
LPSleep	5845	2	125.46
TT8_Active	529	19	102.82
TT8_Sampling	1718	39	670.45
TT8_CF8	289	45	130.07
TT8_Kalman	0	0	0.00
Analog_circuits	1319	12	155.20
GPS_charging	0	0	0.00
Compass	1445	15	212.44
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
16	-0.57	-87.7	0.0	0.0	0	63	0.00	0.00	-44.78	0.000	2	0.000	0.000	103	2197	2562	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.59	-136.3	3.0	-1.7	8	104	11.82	2.22	-17.65	0.000	4	0.226	0.061	2994	804	3352	0	0	0	0	0	0	24.53	25.33	26.17
168	-0.59	-136.3	25.4	-18.3	26	174	0.00	2.20	0.00	0.000	6	0.000	0.050	2986	2199	3354	0	0	0	0	0	0	28.83	25.23	28.83
480	-0.59	-136.3	79.1	-15.0	87	488	0.00	2.22	0.00	0.000	4	0.000	0.049	2987	795	3356	0	0	0	0	0	0	28.83	25.12	28.83
507	-0.59	-136.3	82.8	-14.0	91	515	0.00	2.22	0.00	0.000	6	0.000	0.050	2976	2203	3356	0	0	0	0	0	0	28.83	25.11	28.83
824	-0.59	-136.3	126.1	-13.2	147	834	0.00	2.28	0.00	0.000	4	0.000	0.048	2976	804	3356	0	0	0	0	0	0	28.83	25.08	28.83
885	-0.59	-136.3	134.0	-12.8	153	894	0.10	2.25	0.00	0.000	6	0.125	0.049	2998	2195	3356	0	0	0	0	0	0	24.80	25.08	28.83
1194	-0.59	-136.3	170.7	-11.1	174	1203	0.00	2.28	0.00	0.000	4	0.000	0.048	2998	802	3356	0	0	0	0	0	0	28.83	25.04	28.83
1234	-0.59	-136.3	175.3	-11.6	178	1243	0.00	2.30	0.00	0.000	6	0.000	0.049	2990	2210	3357	0	0	0	0	0	0	28.83	25.03	28.83
1560	-0.59	-136.3	214.9	-12.2	198	1562	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2209	3356	0	0	0	0	0	0	28.83	28.83	28.83
1859	-0.59	-136.3	251.0	-11.9	213	1865	0.00	2.30	0.00	0.000	4	0.000	0.049	2990	805	3356	0	0	0	0	0	0	28.83	24.98	28.83
1928	-0.59	-136.3	257.9	-11.5	216	1937	0.00	2.30	0.00	0.000	6	0.000	0.050	2980	2210	3356	0	0	0	0	0	0	28.83	24.98	28.83
2240	-0.59	-136.3	294.1	-11.2	232	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2210	3356	0	0	0	0	0	0	28.83	28.83	28.83
2539	-0.59	-136.3	328.2	-11.5	247	2545	0.00	2.33	0.00	0.000	4	0.000	0.049	2980	794	3356	0	0	0	0	0	0	28.83	24.94	28.83
2569	-0.59	-136.3	330.5	-11.6	248	2578	0.12	2.33	0.00	0.000	6	0.143	0.050	3002	2209	3356	0	0	0	0	0	0	24.75	24.93	28.83
2881	-0.59	-136.3	362.9	-10.1	264	2882	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2208	3356	0	0	0	0	0	0	28.83	28.83	28.83
3179	-0.59	-136.3	392.8	-10.2	279	3185	0.00	2.38	0.00	0.000	4	0.000	0.063	2993	3606	3356	0	0	0	0	0	0	28.83	24.67	28.83
3250	-0.59	-136.3	399.0	-10.3	282	3258	0.00	2.25	0.00	0.000	6	0.000	0.043	2993	2209	3356	0	0	0	0	0	0	28.83	25.18	28.83
3559	-0.59	-136.3	430.5	-9.6	293	3565	0.00	2.33	0.00	0.000	4	0.000	0.050	2993	793	3356	0	0	0	0	0	0	28.83	24.88	28.83
3657	-0.59	-136.3	439.0	-9.4	296	3662	0.00	2.33	0.00	0.000	6	0.000	0.051	2983	2204	3356	0	0	0	0	0	0	28.83	24.88	28.83
3877	end dive: TARGET_DEPTH_EXCEEDED
state	3877	begin apogee
3885	-0.22	0.0	462.0	-9.9	304	4006	0.43	0.00	117.57	0.828	6	0.112	0.000	3123	2341	2793	0	0	0	0	0	0	24.94	28.83	23.47
4007	end apogee: CONTROL_FINISHED_OK
state	4007	begin climb
4010	0.59	136.3	466.1	0.0	308	4138	0.77	2.38	120.95	0.796	4	0.077	0.063	3385	3730	2238	0	0	0	0	0	0	24.63	24.57	23.35
4181	0.59	136.3	456.7	7.6	313	4185	0.00	2.30	0.00	0.000	6	0.000	0.045	3396	2333	2234	0	0	0	0	0	0	28.83	25.09	28.83
4500	0.59	136.3	423.1	10.1	324	4505	0.00	2.30	0.00	0.000	4	0.000	0.053	3407	920	2228	0	0	0	0	0	0	28.83	25.31	28.83
4578	0.59	136.3	416.9	10.2	326	4582	0.00	2.30	0.00	0.000	6	0.000	0.053	3407	2323	2227	0	0	0	0	0	0	28.83	25.29	28.83
4891	0.59	136.3	382.0	10.3	339	4895	0.00	2.38	0.00	0.000	4	0.000	0.065	3407	3732	2227	0	0	0	0	0	0	28.83	25.07	28.83
4978	0.59	136.3	372.7	11.6	343	4983	0.12	2.30	0.00	0.000	6	0.158	0.046	3387	2321	2225	0	0	0	0	0	0	25.09	25.36	28.83
5280	0.59	136.3	345.3	8.7	358	5285	0.00	2.40	0.00	0.000	4	0.000	0.064	3387	3736	2225	0	0	0	0	0	0	28.83	24.96	28.83
5361	0.59	136.3	337.6	9.7	362	5366	0.00	2.30	0.00	0.000	6	0.000	0.046	3396	2324	2225	0	0	0	0	0	0	28.83	25.29	28.83
5681	0.59	136.3	310.3	8.6	378	5685	0.00	2.35	0.00	0.000	4	0.000	0.064	3395	3733	2225	0	0	0	0	0	0	28.83	24.88	28.83
5708	0.59	136.3	308.4	8.7	379	5712	0.00	2.33	0.00	0.000	6	0.000	0.046	3406	2316	2224	0	0	0	0	0	0	28.83	25.26	28.83
6011	0.59	136.3	280.0	8.9	394	6012	0.00	0.00	0.00	0.000	6	0.000	0.000	3406	2315	2224	0	0	0	0	0	0	28.83	28.83	28.83
6310	0.59	136.3	253.6	8.8	409	6315	0.00	2.42	0.00	0.000	4	0.000	0.064	3406	3737	2224	0	0	0	0	0	0	28.83	24.79	28.83
6411	0.59	136.3	243.4	10.5	414	6416	0.10	2.30	0.00	0.000	6	0.135	0.046	3385	2330	2224	0	0	0	0	0	0	24.86	25.20	28.83
6731	0.59	136.3	219.3	7.4	430	6732	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	2324	2223	0	0	0	0	0	0	28.83	28.83	28.83
7040	0.59	145.1	197.8	6.5	446	7052	0.00	2.42	6.65	0.564	4	0.000	0.064	3385	3742	2201	0	0	0	0	0	0	28.83	25.15	24.08
7131	0.59	145.1	190.7	8.2	455	7140	0.00	2.30	0.00	0.000	6	0.000	0.047	3393	2318	2200	0	0	0	0	0	0	28.83	25.41	28.83
7440	0.59	145.1	167.6	7.8	476	7449	0.00	2.38	0.00	0.000	4	0.000	0.064	3393	3731	2199	0	0	0	0	0	0	28.83	24.88	28.83
7560	0.59	145.1	156.7	9.4	488	7569	0.00	2.28	0.00	0.000	6	0.000	0.046	3403	2324	2199	0	0	0	0	0	0	28.83	25.22	28.83
7871	0.59	145.1	131.2	8.0	509	7879	0.00	2.38	0.00	0.000	4	0.000	0.064	3404	3732	2199	0	0	0	0	0	0	28.83	24.75	28.83
8000	0.59	145.1	120.1	7.7	522	8009	0.00	2.30	0.00	0.000	6	0.000	0.045	3414	2321	2199	0	0	0	0	0	0	28.83	25.17	28.83
8314	0.59	145.1	99.5	7.1	583	8322	0.00	2.35	0.00	0.000	4	0.000	0.064	3414	3736	2199	0	0	0	0	0	0	28.83	24.70	28.83
8552	0.59	145.1	79.7	7.8	629	8559	0.15	2.22	0.00	0.000	6	0.148	0.045	3386	2325	2198	0	0	0	0	0	0	24.82	25.16	28.83
8864	0.61	193.9	66.5	4.2	690	8912	0.00	2.42	42.40	0.595	4	0.000	0.063	3386	3744	2003	0	0	0	0	0	0	28.83	25.08	23.99
9007	0.61	196.1	57.9	6.9	716	9013	0.00	2.25	0.00	0.000	6	0.000	0.045	3394	2317	1997	0	0	0	0	0	0	28.83	25.35	28.83
9320	0.63	225.5	42.4	5.3	777	9350	0.00	0.00	27.08	0.568	6	0.000	0.000	3394	2317	1874	0	0	0	0	0	0	28.83	28.83	24.06
9656	0.64	250.6	22.3	5.6	842	9686	0.00	2.40	21.67	0.549	4	0.000	0.064	3394	3766	1770	0	0	0	0	0	0	28.83	25.26	24.10
9731	0.64	265.8	18.1	6.1	855	9750	0.00	2.28	14.00	0.525	6	0.000	0.044	3403	2316	1709	0	0	0	0	0	0	28.83	25.47	24.03
10056	0.66	321.6	5.2	3.8	918	10092	0.00	0.00	33.80	0.543	2	0.000	0.000	3403	2316	1543	0	0	0	0	0	0	28.83	28.83	28.83
10093	end climb: SURFACE_DEPTH_REACHED
state	10093	begin surface coast
10205	end surface coast: CONTROL_FINISHED_OK
state	10205	begin surface