Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 857 * 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 857 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 39 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 -1590064 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 -1590064

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 39 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 25 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 857 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 220413,174533,4749.755,-12514.108,42,3.8,62,18.7 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.930,-12510.270

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.15 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -78.2 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 220413,175306,4749.709,-12514.113,42,1.1,42,18.7 MHEAD_RNG_PITCHd_Wd 18.4,6303,-13.3,-7.021,-18.50

SPEED_LIMITS 0.122,0.210 D_GRID 380

Post-dive calculations and measurements:

FINISH 1.2,1.001599 _10V_AH 9.8,87.638

SM_CCo 9583,0.00,0.000,0,0,1056,426.09 FG_AHR_24Vo 0.000

SM_GC 2.22,8.55,0.22,0.00,0.031,0.070,0.000,109,2179,1056,-9.47,0.82,426.09,0,0,0,0,0,0,25.72,25.79,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12521.83,220413,141436 MEM 296780

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 46915,852

HUMID 50.55 CAP_FILE_SIZE 100926,0

INTERNAL_PRESSURE 9.0597 CFSIZE 260165632,186912768

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

XPDR_PINGS 6 CURRENT 0.126,162.4,1

_24V_AH 23.5,117.784 GPS 220413,203436,4750.571,-12512.531,37,0.9,38,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 224 115.22 SBE_CT 582 24 328.37

Roll_motor 105 76 190.38 SBE_O2 556 19 248.52

VBD_pump_during_apogee 488 776 8920.13 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 27 103 67.72 nil 0 0 0.00

Iridium_during_connect 34 160 129.10 nil 0 0 0.00

Iridium_during_xfer 231 223 1214.31 nil 0 0 0.00

Transponder_ping 1 420 14.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 50 20.98

TT8 2076 19 403.01

LPSleep 5419 2 116.31

TT8_Active 637 19 123.62

TT8_Sampling 1612 39 629.11

TT8_CF8 292 45 131.44

TT8_Kalman 0 0 0.00

Analog_circuits 1381 12 162.48

GPS_charging 0 0 0.00

Compass 1308 15 192.32

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 -0.47 -136.3 0.0 0.0 0 63 0.00 0.00 -44.40 0.000 2 0.000 0.000 105 2195 2562 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.47 -136.3 3.2 -2.9 8 104 11.93 2.33 -17.75 0.000 4 0.225 0.073 3023 3610 3350 0 0 0 0 0 0 24.54 25.23 26.18

133 -0.47 -136.3 16.1 -14.9 19 140 0.00 2.22 0.00 0.000 6 0.000 0.043 3023 2195 3352 0 0 0 0 0 0 28.83 25.41 28.83

446 -0.47 -136.3 62.1 -12.3 80 453 0.00 2.22 0.00 0.000 4 0.000 0.050 3023 787 3354 0 0 0 0 0 0 28.83 25.10 28.83

577 -0.47 -136.3 76.9 -11.6 105 584 0.00 2.22 0.00 0.000 6 0.000 0.050 3014 2201 3354 0 0 0 0 0 0 28.83 25.08 28.83

889 -0.47 -136.3 113.9 -11.6 166 897 0.00 2.30 0.00 0.000 4 0.000 0.061 3003 3607 3354 0 0 0 0 0 0 28.83 24.84 28.83

914 -0.47 -136.3 117.2 -11.9 170 922 0.15 2.22 0.00 0.000 6 0.122 0.041 3047 2184 3354 0 0 0 0 0 0 25.05 25.29 28.83

1233 -0.47 -136.3 145.8 -9.3 194 1240 0.00 2.20 0.00 0.000 4 0.000 0.050 3047 794 3355 0 0 0 0 0 0 28.83 25.01 28.83

1292 -0.47 -136.3 151.6 -9.7 200 1299 0.00 2.28 0.00 0.000 6 0.000 0.050 3041 2198 3355 0 0 0 0 0 0 28.83 25.01 28.83

1602 -0.47 -136.3 181.6 -9.4 221 1609 0.00 2.33 0.00 0.000 4 0.000 0.062 3029 3617 3355 0 0 0 0 0 0 28.83 24.75 28.83

1661 -0.47 -136.3 187.1 -9.0 227 1669 0.00 2.28 0.00 0.000 6 0.000 0.042 3029 2194 3354 0 0 0 0 0 0 28.83 25.24 28.83

1987 -0.47 -136.3 216.2 -8.5 246 1988 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2193 3354 0 0 0 0 0 0 28.83 28.83 28.83

2286 -0.47 -136.3 241.5 -8.4 261 2291 0.00 2.28 0.00 0.000 4 0.000 0.050 3030 800 3355 0 0 0 0 0 0 28.83 24.94 28.83

2345 -0.47 -136.3 246.6 -8.4 264 2351 0.00 2.30 0.00 0.000 6 0.000 0.050 3022 2203 3354 0 0 0 0 0 0 28.83 24.93 28.83

2668 -0.47 -136.3 275.8 -9.5 280 2672 0.00 2.33 0.00 0.000 4 0.000 0.062 3011 3616 3354 0 0 0 0 0 0 28.83 24.68 28.83

2763 -0.47 -136.3 284.4 -9.6 284 2769 0.12 2.30 0.00 0.000 6 0.122 0.042 3048 2199 3354 0 0 0 0 0 0 25.01 25.19 28.83

3067 -0.47 -136.3 307.2 -7.0 299 3068 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2192 3354 0 0 0 0 0 0 28.83 28.83 28.83

3366 -0.47 -136.3 327.8 -6.8 314 3371 0.00 2.28 0.00 0.000 4 0.000 0.050 3048 794 3354 0 0 0 0 0 0 28.83 24.89 28.83

3426 -0.47 -136.3 332.1 -7.0 317 3431 0.00 2.30 0.00 0.000 6 0.000 0.051 3042 2200 3354 0 0 0 0 0 0 28.83 24.87 28.83

3747 -0.47 -136.3 357.5 -8.7 333 3751 0.00 2.38 0.00 0.000 4 0.000 0.063 3032 3608 3354 0 0 0 0 0 0 28.83 24.60 28.83

3793 -0.47 -136.3 361.0 -8.7 335 3798 0.00 2.30 0.00 0.000 6 0.000 0.043 3032 2194 3354 0 0 0 0 0 0 28.83 25.14 28.83

4013 end dive: TARGET_DEPTH_EXCEEDED

state 4013 begin apogee

4020 -0.22 0.0 382.0 -9.6 346 4141 0.28 0.00 116.20 0.776 6 0.110 0.000 3125 2336 2794 0 0 0 0 0 0 25.31 28.83 23.55

4142 end apogee: CONTROL_FINISHED_OK

state 4142 begin climb

4146 0.47 136.3 388.2 0.0 352 4276 0.65 2.38 120.03 0.747 4 0.075 0.065 3349 3730 2237 0 0 0 0 0 0 24.73 24.65 23.45

4304 0.50 206.1 384.6 4.2 360 4374 0.00 2.33 60.25 0.737 6 0.000 0.044 3359 2325 1951 0 0 0 0 0 0 28.83 25.06 23.45

4679 0.51 234.4 361.1 5.9 379 4709 0.00 2.33 24.30 0.734 4 0.000 0.054 3368 927 1838 0 0 0 0 0 0 28.83 25.27 23.91

4747 0.51 234.4 355.4 7.7 382 4752 0.00 2.28 0.00 0.000 6 0.000 0.052 3368 2317 1835 0 0 0 0 0 0 28.83 25.32 28.83

5068 0.51 234.4 331.3 7.6 398 5072 0.00 2.25 0.00 0.000 4 0.000 0.054 3377 934 1833 0 0 0 0 0 0 28.83 25.25 28.83

5107 0.51 234.4 328.4 7.5 400 5112 0.00 2.30 0.00 0.000 6 0.000 0.053 3376 2335 1832 0 0 0 0 0 0 28.83 25.25 28.83

5427 0.51 234.4 303.2 7.4 416 5432 0.00 2.33 0.00 0.000 4 0.000 0.054 3386 920 1832 0 0 0 0 0 0 28.83 25.13 28.83

5468 0.51 234.4 300.3 7.1 418 5473 0.00 2.30 0.00 0.000 6 0.000 0.053 3386 2327 1832 0 0 0 0 0 0 28.83 25.15 28.83

5787 0.51 234.4 275.4 7.8 434 5792 0.00 2.38 0.00 0.000 4 0.000 0.065 3386 3737 1831 0 0 0 0 0 0 28.83 24.91 28.83

5847 0.51 234.4 269.8 9.0 437 5853 0.12 2.30 0.00 0.000 6 0.142 0.046 3361 2334 1831 0 0 0 0 0 0 25.05 25.25 28.83

6168 0.52 260.4 249.9 6.0 453 6196 0.00 2.35 22.80 0.693 4 0.000 0.054 3369 914 1732 0 0 0 0 0 0 28.83 25.25 24.03

6225 0.53 287.7 247.0 5.9 455 6257 0.00 2.33 24.60 0.682 6 0.000 0.053 3369 2329 1620 0 0 0 0 0 0 28.83 25.30 23.85

6558 0.54 307.5 225.3 6.2 472 6582 0.00 2.35 17.58 0.664 4 0.000 0.054 3372 914 1539 0 0 0 0 0 0 28.83 25.34 24.03

6617 0.55 327.8 221.6 6.2 475 6643 0.00 2.30 18.58 0.653 6 0.000 0.052 3373 2324 1457 0 0 0 0 0 0 28.83 25.37 23.94

6957 0.55 327.8 198.6 7.1 492 6966 0.00 2.33 0.00 0.000 4 0.000 0.054 3377 910 1451 0 0 0 0 0 0 28.83 25.21 28.83

6988 0.55 329.5 196.6 7.0 495 6996 0.00 2.28 0.00 0.000 6 0.000 0.052 3377 2333 1451 0 0 0 0 0 0 28.83 25.23 28.83

7297 0.55 343.7 175.1 6.5 516 7317 0.00 2.35 14.12 0.627 4 0.000 0.054 3384 917 1391 0 0 0 0 0 0 28.83 25.37 24.10

7347 0.56 362.2 172.1 6.3 521 7369 0.00 2.30 16.92 0.631 6 0.000 0.052 3384 2330 1316 0 0 0 0 0 0 28.83 25.41 24.00

7670 0.56 362.2 148.8 7.6 543 7677 0.00 2.28 0.00 0.000 4 0.000 0.054 3392 910 1310 0 0 0 0 0 0 28.83 25.20 28.83

7707 0.56 366.4 146.1 6.9 547 7717 0.00 2.30 4.22 0.444 6 0.000 0.053 3392 2319 1300 0 0 0 0 0 0 28.83 25.22 24.15

8020 0.56 366.4 121.6 9.1 568 8027 0.00 2.25 0.00 0.000 4 0.000 0.054 3397 914 1298 0 0 0 0 0 0 28.83 25.13 28.83

8066 0.56 366.4 117.1 9.3 576 8073 0.00 2.28 0.00 0.000 6 0.000 0.052 3397 2337 1297 0 0 0 0 0 0 28.83 25.16 28.83

8379 0.56 366.4 88.1 9.6 637 8386 0.00 2.28 0.00 0.000 4 0.000 0.053 3403 918 1297 0 0 0 0 0 0 28.83 25.05 28.83

8404 0.56 366.4 85.9 8.6 641 8411 0.00 2.25 0.00 0.000 6 0.000 0.052 3403 2329 1297 0 0 0 0 0 0 28.83 25.08 28.83

8717 0.56 366.4 59.6 7.2 702 8725 0.00 2.28 0.00 0.000 4 0.000 0.054 3405 915 1297 0 0 0 0 0 0 28.83 24.98 28.83

8738 0.56 366.4 58.3 7.0 705 8744 0.00 2.25 0.00 0.000 6 0.000 0.052 3406 2326 1296 0 0 0 0 0 0 28.83 25.03 28.83

9049 0.57 392.2 37.6 6.0 766 9080 0.00 2.28 22.45 0.565 4 0.000 0.052 3405 909 1193 0 0 0 0 0 0 28.83 25.28 24.15

9125 0.59 423.5 33.5 5.8 779 9160 0.00 2.25 26.80 0.563 6 0.000 0.050 3405 2333 1065 0 0 0 0 0 0 28.83 25.33 24.03

9458 end climb: SURFACE_DEPTH_REACHED

state 9461 begin surface coast

9503 end surface coast: CONTROL_FINISHED_OK

state 9503 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	857	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	39	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	-1590064	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	220413,174533,4749.755,-12514.108,42,3.8,62,18.7	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.930,-12510.270
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.15	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-78.2	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	220413,175306,4749.709,-12514.113,42,1.1,42,18.7	MHEAD_RNG_PITCHd_Wd	18.4,6303,-13.3,-7.021,-18.50
SPEED_LIMITS	0.122,0.210	D_GRID	380

FINISH	1.2,1.001599	_10V_AH	9.8,87.638
SM_CCo	9583,0.00,0.000,0,0,1056,426.09	FG_AHR_24Vo	0.000
SM_GC	2.22,8.55,0.22,0.00,0.031,0.070,0.000,109,2179,1056,-9.47,0.82,426.09,0,0,0,0,0,0,25.72,25.79,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12521.83,220413,141436	MEM	296780
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	46915,852
HUMID	50.55	CAP_FILE_SIZE	100926,0
INTERNAL_PRESSURE	9.0597	CFSIZE	260165632,186912768
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	6	CURRENT	0.126,162.4,1
_24V_AH	23.5,117.784	GPS	220413,203436,4750.571,-12512.531,37,0.9,38,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	224	115.22	SBE_CT	582	24	328.37
Roll_motor	105	76	190.38	SBE_O2	556	19	248.52
VBD_pump_during_apogee	488	776	8920.13	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	27	103	67.72	nil	0	0	0.00
Iridium_during_connect	34	160	129.10	nil	0	0	0.00
Iridium_during_xfer	231	223	1214.31	nil	0	0	0.00
Transponder_ping	1	420	14.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	50	20.98
TT8	2076	19	403.01
LPSleep	5419	2	116.31
TT8_Active	637	19	123.62
TT8_Sampling	1612	39	629.11
TT8_CF8	292	45	131.44
TT8_Kalman	0	0	0.00
Analog_circuits	1381	12	162.48
GPS_charging	0	0	0.00
Compass	1308	15	192.32
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	-0.47	-136.3	0.0	0.0	0	63	0.00	0.00	-44.40	0.000	2	0.000	0.000	105	2195	2562	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.47	-136.3	3.2	-2.9	8	104	11.93	2.33	-17.75	0.000	4	0.225	0.073	3023	3610	3350	0	0	0	0	0	0	24.54	25.23	26.18
133	-0.47	-136.3	16.1	-14.9	19	140	0.00	2.22	0.00	0.000	6	0.000	0.043	3023	2195	3352	0	0	0	0	0	0	28.83	25.41	28.83
446	-0.47	-136.3	62.1	-12.3	80	453	0.00	2.22	0.00	0.000	4	0.000	0.050	3023	787	3354	0	0	0	0	0	0	28.83	25.10	28.83
577	-0.47	-136.3	76.9	-11.6	105	584	0.00	2.22	0.00	0.000	6	0.000	0.050	3014	2201	3354	0	0	0	0	0	0	28.83	25.08	28.83
889	-0.47	-136.3	113.9	-11.6	166	897	0.00	2.30	0.00	0.000	4	0.000	0.061	3003	3607	3354	0	0	0	0	0	0	28.83	24.84	28.83
914	-0.47	-136.3	117.2	-11.9	170	922	0.15	2.22	0.00	0.000	6	0.122	0.041	3047	2184	3354	0	0	0	0	0	0	25.05	25.29	28.83
1233	-0.47	-136.3	145.8	-9.3	194	1240	0.00	2.20	0.00	0.000	4	0.000	0.050	3047	794	3355	0	0	0	0	0	0	28.83	25.01	28.83
1292	-0.47	-136.3	151.6	-9.7	200	1299	0.00	2.28	0.00	0.000	6	0.000	0.050	3041	2198	3355	0	0	0	0	0	0	28.83	25.01	28.83
1602	-0.47	-136.3	181.6	-9.4	221	1609	0.00	2.33	0.00	0.000	4	0.000	0.062	3029	3617	3355	0	0	0	0	0	0	28.83	24.75	28.83
1661	-0.47	-136.3	187.1	-9.0	227	1669	0.00	2.28	0.00	0.000	6	0.000	0.042	3029	2194	3354	0	0	0	0	0	0	28.83	25.24	28.83
1987	-0.47	-136.3	216.2	-8.5	246	1988	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2193	3354	0	0	0	0	0	0	28.83	28.83	28.83
2286	-0.47	-136.3	241.5	-8.4	261	2291	0.00	2.28	0.00	0.000	4	0.000	0.050	3030	800	3355	0	0	0	0	0	0	28.83	24.94	28.83
2345	-0.47	-136.3	246.6	-8.4	264	2351	0.00	2.30	0.00	0.000	6	0.000	0.050	3022	2203	3354	0	0	0	0	0	0	28.83	24.93	28.83
2668	-0.47	-136.3	275.8	-9.5	280	2672	0.00	2.33	0.00	0.000	4	0.000	0.062	3011	3616	3354	0	0	0	0	0	0	28.83	24.68	28.83
2763	-0.47	-136.3	284.4	-9.6	284	2769	0.12	2.30	0.00	0.000	6	0.122	0.042	3048	2199	3354	0	0	0	0	0	0	25.01	25.19	28.83
3067	-0.47	-136.3	307.2	-7.0	299	3068	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2192	3354	0	0	0	0	0	0	28.83	28.83	28.83
3366	-0.47	-136.3	327.8	-6.8	314	3371	0.00	2.28	0.00	0.000	4	0.000	0.050	3048	794	3354	0	0	0	0	0	0	28.83	24.89	28.83
3426	-0.47	-136.3	332.1	-7.0	317	3431	0.00	2.30	0.00	0.000	6	0.000	0.051	3042	2200	3354	0	0	0	0	0	0	28.83	24.87	28.83
3747	-0.47	-136.3	357.5	-8.7	333	3751	0.00	2.38	0.00	0.000	4	0.000	0.063	3032	3608	3354	0	0	0	0	0	0	28.83	24.60	28.83
3793	-0.47	-136.3	361.0	-8.7	335	3798	0.00	2.30	0.00	0.000	6	0.000	0.043	3032	2194	3354	0	0	0	0	0	0	28.83	25.14	28.83
4013	end dive: TARGET_DEPTH_EXCEEDED
state	4013	begin apogee
4020	-0.22	0.0	382.0	-9.6	346	4141	0.28	0.00	116.20	0.776	6	0.110	0.000	3125	2336	2794	0	0	0	0	0	0	25.31	28.83	23.55
4142	end apogee: CONTROL_FINISHED_OK
state	4142	begin climb
4146	0.47	136.3	388.2	0.0	352	4276	0.65	2.38	120.03	0.747	4	0.075	0.065	3349	3730	2237	0	0	0	0	0	0	24.73	24.65	23.45
4304	0.50	206.1	384.6	4.2	360	4374	0.00	2.33	60.25	0.737	6	0.000	0.044	3359	2325	1951	0	0	0	0	0	0	28.83	25.06	23.45
4679	0.51	234.4	361.1	5.9	379	4709	0.00	2.33	24.30	0.734	4	0.000	0.054	3368	927	1838	0	0	0	0	0	0	28.83	25.27	23.91
4747	0.51	234.4	355.4	7.7	382	4752	0.00	2.28	0.00	0.000	6	0.000	0.052	3368	2317	1835	0	0	0	0	0	0	28.83	25.32	28.83
5068	0.51	234.4	331.3	7.6	398	5072	0.00	2.25	0.00	0.000	4	0.000	0.054	3377	934	1833	0	0	0	0	0	0	28.83	25.25	28.83
5107	0.51	234.4	328.4	7.5	400	5112	0.00	2.30	0.00	0.000	6	0.000	0.053	3376	2335	1832	0	0	0	0	0	0	28.83	25.25	28.83
5427	0.51	234.4	303.2	7.4	416	5432	0.00	2.33	0.00	0.000	4	0.000	0.054	3386	920	1832	0	0	0	0	0	0	28.83	25.13	28.83
5468	0.51	234.4	300.3	7.1	418	5473	0.00	2.30	0.00	0.000	6	0.000	0.053	3386	2327	1832	0	0	0	0	0	0	28.83	25.15	28.83
5787	0.51	234.4	275.4	7.8	434	5792	0.00	2.38	0.00	0.000	4	0.000	0.065	3386	3737	1831	0	0	0	0	0	0	28.83	24.91	28.83
5847	0.51	234.4	269.8	9.0	437	5853	0.12	2.30	0.00	0.000	6	0.142	0.046	3361	2334	1831	0	0	0	0	0	0	25.05	25.25	28.83
6168	0.52	260.4	249.9	6.0	453	6196	0.00	2.35	22.80	0.693	4	0.000	0.054	3369	914	1732	0	0	0	0	0	0	28.83	25.25	24.03
6225	0.53	287.7	247.0	5.9	455	6257	0.00	2.33	24.60	0.682	6	0.000	0.053	3369	2329	1620	0	0	0	0	0	0	28.83	25.30	23.85
6558	0.54	307.5	225.3	6.2	472	6582	0.00	2.35	17.58	0.664	4	0.000	0.054	3372	914	1539	0	0	0	0	0	0	28.83	25.34	24.03
6617	0.55	327.8	221.6	6.2	475	6643	0.00	2.30	18.58	0.653	6	0.000	0.052	3373	2324	1457	0	0	0	0	0	0	28.83	25.37	23.94
6957	0.55	327.8	198.6	7.1	492	6966	0.00	2.33	0.00	0.000	4	0.000	0.054	3377	910	1451	0	0	0	0	0	0	28.83	25.21	28.83
6988	0.55	329.5	196.6	7.0	495	6996	0.00	2.28	0.00	0.000	6	0.000	0.052	3377	2333	1451	0	0	0	0	0	0	28.83	25.23	28.83
7297	0.55	343.7	175.1	6.5	516	7317	0.00	2.35	14.12	0.627	4	0.000	0.054	3384	917	1391	0	0	0	0	0	0	28.83	25.37	24.10
7347	0.56	362.2	172.1	6.3	521	7369	0.00	2.30	16.92	0.631	6	0.000	0.052	3384	2330	1316	0	0	0	0	0	0	28.83	25.41	24.00
7670	0.56	362.2	148.8	7.6	543	7677	0.00	2.28	0.00	0.000	4	0.000	0.054	3392	910	1310	0	0	0	0	0	0	28.83	25.20	28.83
7707	0.56	366.4	146.1	6.9	547	7717	0.00	2.30	4.22	0.444	6	0.000	0.053	3392	2319	1300	0	0	0	0	0	0	28.83	25.22	24.15
8020	0.56	366.4	121.6	9.1	568	8027	0.00	2.25	0.00	0.000	4	0.000	0.054	3397	914	1298	0	0	0	0	0	0	28.83	25.13	28.83
8066	0.56	366.4	117.1	9.3	576	8073	0.00	2.28	0.00	0.000	6	0.000	0.052	3397	2337	1297	0	0	0	0	0	0	28.83	25.16	28.83
8379	0.56	366.4	88.1	9.6	637	8386	0.00	2.28	0.00	0.000	4	0.000	0.053	3403	918	1297	0	0	0	0	0	0	28.83	25.05	28.83
8404	0.56	366.4	85.9	8.6	641	8411	0.00	2.25	0.00	0.000	6	0.000	0.052	3403	2329	1297	0	0	0	0	0	0	28.83	25.08	28.83
8717	0.56	366.4	59.6	7.2	702	8725	0.00	2.28	0.00	0.000	4	0.000	0.054	3405	915	1297	0	0	0	0	0	0	28.83	24.98	28.83
8738	0.56	366.4	58.3	7.0	705	8744	0.00	2.25	0.00	0.000	6	0.000	0.052	3406	2326	1296	0	0	0	0	0	0	28.83	25.03	28.83
9049	0.57	392.2	37.6	6.0	766	9080	0.00	2.28	22.45	0.565	4	0.000	0.052	3405	909	1193	0	0	0	0	0	0	28.83	25.28	24.15
9125	0.59	423.5	33.5	5.8	779	9160	0.00	2.25	26.80	0.563	6	0.000	0.050	3405	2333	1065	0	0	0	0	0	0	28.83	25.33	24.03
9458	end climb: SURFACE_DEPTH_REACHED
state	9461	begin surface coast
9503	end surface coast: CONTROL_FINISHED_OK
state	9503	begin surface