Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

DIVE 94 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 19 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 ALTIM_SENSITIVITY 3

D_SURF 4 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_VALID 1

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_TGT 990 SM_CC 350 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.69999999

D_NO_BLEED 200 FILEMGR 0 VBD_MIN 470 DEEPGLIDER 0

D_BOOST 20 CALL_NDIVES 1 VBD_MAX 3900 MOTHERBOARD 4

T_BOOST 5 COMM_SEQ 0 C_VBD 2941 DEVICE1 -1

D_FINISH 0 PROTOCOL 8 VBD_DBAND 2 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00050000002 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_DIVE 450 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

T_MISSION 510 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN 225 T_GPS 5 W_ADJ_DBAND 2 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 N_GPS 100440 DBDW 0 COMPASS2_DEVICE 149

T_NO_W 120 T_RSLEEP 1 PITCH_W_GAIN 2 PHONE_DEVICE 49

T_LOITER 0 STROBE 0 PITCH_W_DBAND 0.5 GPS_DEVICE 64

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 100 MINV_24V 10 SIM_PITCH 0

D_OFFGRID 1000 PITCH_MAX 3850 MINV_10V 10 SEABIRD_T_G 0.0043979231

T_WATCHDOG 10 C_PITCH 3394 MAXI_24V 0.60000002 SEABIRD_T_H 0.00063691288

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.4734132e-05

APOGEE_PITCH -7 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 2.9167527e-06

MAX_BUOY 110 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -9.67243

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1076213

GLIDE_SLOPE 30 PITCH_GAIN 44 PRESSURE_YINT -164.55209 SEABIRD_C_I -0.0017588359

SPEED_FACTOR 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001068 SEABIRD_C_J 0.00021615655

RHO 1.0275 PITCH_AD_RATE 165 AD7714Ch0Gain 1 SC_RECORDABOVE 2000.0

MASS 53572 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MIN 440 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

KALMAN_USE 2 ROLL_MAX 4000 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 1.0

HD_A 0.0026964601 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099003203 C_ROLL_DIVE 1900 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_C 2.26204e-06 C_ROLL_CLIMB 2250 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

AD7714Ch0Gain 1 D_SURF 4 PITCH_AD_RATE 165 SEABIRD_T_H 0.00063691288

AH0_10V 0 D_TGT 990 PITCH_CNV 0.003125763 SEABIRD_T_I 2.4734132e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.9167527e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 44 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3850 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_MIN 100 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00050000002 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0026964601 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099003203 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -7 HD_C 2.26204e-06 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEADING -1 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEAD_ERRBAND 10 PM_XMITPROFILE 1.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAPDBG 0 PM_XMITRAW 0.0 T_ABORT 1440

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001068 T_BOOST 5

CAPUPLOAD 0 ID 187 PRESSURE_YINT -164.55209 T_DIVE 450

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 8 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RAFOS_CORR_THRESH 60 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 1

C_PITCH 3394 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2250 LOGGERS 3 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 1900 MASS 53572 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 110 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 10 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 10 ROLL_MAX 4000 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 8 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3900

DIVE 94 NOCOMM_ACTION 163 R_PORT_OVSHOOT 19 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 17 VBD_MIN 470

D_BOOST 20 N_FILEKB 8 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.67243 W_ADJ_DBAND 2

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_H 1.1076213 XPDR_DEVICE 24

D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017588359 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00021615655 XPDR_VALID 1

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043979231

Pre-dive calculations and measurements:

GPS1 050715,223926,4751.2573,-12511.2725,75,1.5,75,16.5,0.5,207.2,5,10.0 SPEED_LIMITS 0.127,0.207

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 1 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.99 MHEAD_RNG_PITCHd_Wd 218.7,166887,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -79.4 D_GRID 250

GPS2 050715,224716,4751.1602,-12511.2305,2,1.4,4,16.5,0.2,0.0,5,10.0

Post-dive calculations and measurements:

FINISH -0.2,1.023468 _10V_AH 13.19,0.000

SM_CCo 6105,8.05,0.085,0,0,1513,350.04 FG_AHR_24Vo 0.000

SM_GC 3.03,9.70,0.68,8.05,0.047,0.106,0.085,92,1894,1513,-10.25,0.40,350.04,0,0,0,0,0,0,14.50,14.49,14.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12511.36,050715,210228 MEM 286372

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 23420,676

HUMID 48.85 CAP_FILE_SIZE 116520,0

INTERNAL_PRESSURE 9.08899 CFSIZE 260034560,247115776

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 0.060,129.68,1

SC_FREEKB 3901952 GPS 060715,003127,4750.625,-12511.903,46,1.1,53,16.5,0.6,140.6,9,7.1

_24V_AH 13.54,24.981

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 364 120.56 nil 0 0 0.00

Roll_motor 72 2220 2177.79 nil 0 0 0.00

VBD_pump_during_apogee 313 1015 4313.24 nil 0 0 0.00

VBD_pump_during_surface 8 84 9.26 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 6089 8 724.86

Iridium_during_xfer 240 138 450.57 PMAR 2399 8 291.17

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 15 1.25

TT8 1510 10 216.55

LPSleep 2646 2 76.45

TT8_Active 442 10 63.39

TT8_Sampling 1458 29 569.61

TT8_CF8 520 35 244.57

TT8_Kalman 0 0 0.00

Analog_circuits 1418 11 217.10

GPS_charging 0 0 0.00

Compass 1027 16 223.44

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

29 -0.39 -107.1 90 1884 1415 1612 0.0 0.0 0 91 0.00 0.00 -57.83 0.000 16386 0.000 0.000 90 1886 3064 3038 3091 0 0 0 0 0 0 14.62 28.83 14.64

98 -0.39 -107.1 89 1886 3040 3096 3.5 -5.2 6 128 13.48 2.83 -5.20 0.000 18692 0.365 2.221 3255 3300 3382 3356 3408 0 0 0 0 0 0 14.24 13.54 14.48

216 -0.39 -107.1 3252 3300 3358 3410 33.6 -16.7 27 225 0.00 2.53 0.00 0.000 1030 0.000 0.101 3253 1890 3383 3357 3410 0 0 0 0 0 0 14.48 14.38 14.49

406 -0.39 -107.1 3252 1890 3358 3412 61.2 -13.6 46 414 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 1891 3385 3358 3412 0 0 0 0 0 0 14.64 14.66 14.66

595 -0.39 -107.1 3252 1890 3364 3413 82.6 -10.6 65 604 0.00 2.58 0.00 0.000 260 0.000 0.106 3251 3320 3385 3357 3413 0 0 0 0 0 0 14.67 14.45 14.69

742 -0.39 -107.1 3250 3320 3358 3412 97.3 -10.2 92 751 0.00 2.50 0.00 0.000 1030 0.000 0.096 3251 1906 3385 3358 3413 0 0 0 0 0 0 14.57 14.47 14.59

932 -0.39 -107.1 3250 1905 3358 3414 119.1 -10.2 111 941 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1905 3385 3358 3412 0 0 0 0 0 0 14.70 14.74 14.71

1123 -0.39 -107.1 3251 1905 3358 3413 139.3 -9.9 130 1130 0.00 2.53 0.00 0.000 516 0.000 0.111 3251 487 3385 3358 3413 0 0 0 0 0 0 14.71 14.53 14.73

1205 -0.39 -107.1 3248 484 3359 3413 148.4 -11.0 145 1215 0.00 2.47 0.00 0.000 1030 0.000 0.093 3251 1897 3385 3358 3413 0 0 0 0 0 0 14.60 14.52 14.65

1396 -0.39 -107.1 3251 1899 3358 3413 166.9 -9.5 164 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1898 3385 3358 3413 0 0 0 0 0 0 14.72 14.74 14.74

1586 -0.39 -107.1 3251 1897 3358 3413 184.8 -9.6 183 1594 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1898 3385 3358 3413 0 0 0 0 0 0 14.73 14.75 14.75

1776 -0.39 -107.1 3251 1898 3360 3413 203.8 -10.0 202 1784 0.00 2.53 0.00 0.000 516 0.000 0.112 3251 476 3385 3358 3413 0 0 0 0 0 0 14.74 14.51 14.76

1829 -0.39 -107.1 3251 477 3359 3413 209.8 -11.2 211 1837 0.00 2.50 0.00 0.000 1030 0.000 0.093 3251 1911 3385 3358 3413 0 0 0 0 0 0 14.62 14.54 14.64

2019 -0.39 -107.1 3251 1911 3358 3413 229.4 -10.3 230 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1911 3385 3358 3413 0 0 0 0 0 0 14.74 14.76 14.76

2208 -0.39 -107.1 3251 1911 3357 3413 249.5 -10.8 249 2217 0.00 2.55 0.00 0.000 516 0.000 0.112 3251 478 3384 3356 3413 0 0 0 0 0 0 14.75 14.52 14.77

2223 end dive: TARGET_DEPTH_EXCEEDED

state 2223 begin apogee

2237 -0.16 0.0 3253 2252 3357 3413 251.6 -11.1 251 2321 0.32 0.00 78.18 1.015 10246 0.197 0.000 3347 2251 2943 2882 3004 0 0 0 0 0 0 14.49 14.23 13.80

2324 end apogee: CONTROL_FINISHED_OK

state 2324 begin climb

2329 0.39 107.1 3343 2251 2877 3001 257.7 0.0 254 2424 0.50 2.62 77.43 0.985 10500 0.142 0.105 3515 3661 2500 2381 2619 0 0 0 0 0 0 14.19 13.97 13.63

2473 0.42 174.4 3514 3661 2380 2617 255.2 4.2 280 2536 0.00 2.60 48.47 0.984 9222 0.000 0.094 3516 2246 2229 2089 2370 0 0 0 0 0 0 14.22 14.15 13.64

2845 0.45 220.5 3516 2249 2090 2369 237.0 5.2 322 2893 0.00 2.58 34.97 0.973 8708 0.000 0.108 3513 840 2038 1894 2182 0 0 0 0 0 0 14.56 14.16 13.84

2964 0.49 220.5 3512 840 1894 2187 230.7 5.4 342 2976 0.10 2.53 0.00 0.000 3078 0.145 0.095 3581 2253 2037 1894 2181 0 0 0 0 0 0 14.32 14.30 14.38

3168 0.49 220.5 3582 2249 1893 2181 212.4 9.6 362 3179 0.00 2.55 0.00 0.000 260 0.000 0.107 3582 3661 2036 1889 2183 0 0 0 0 0 0 14.59 14.38 14.60

3230 0.49 220.5 3582 3661 1893 2180 205.3 11.7 372 3243 0.08 2.53 0.00 0.000 5126 0.200 0.096 3557 2250 2036 1893 2180 0 0 0 0 0 0 14.35 14.40 14.44

3434 0.49 220.5 3557 2249 1899 2185 186.9 8.9 392 3445 0.00 2.55 0.00 0.000 516 0.000 0.110 3558 819 2036 1893 2180 0 0 0 0 0 0 14.66 14.42 14.67

3490 0.49 220.5 3557 824 1893 2180 181.7 9.1 401 3503 0.00 2.50 0.00 0.000 1030 0.000 0.093 3557 2245 2036 1893 2180 0 0 0 0 0 0 14.57 14.47 14.57

3684 0.49 220.5 3557 2243 1893 2180 166.1 7.5 420 3695 0.00 2.55 0.00 0.000 260 0.000 0.106 3557 3672 2036 1892 2180 0 0 0 0 0 0 14.69 14.49 14.71

3727 0.49 220.5 3557 3672 1892 2179 162.5 8.9 426 3738 0.00 2.55 0.00 0.000 1030 0.000 0.096 3558 2232 2036 1893 2179 0 0 0 0 0 0 14.57 14.47 14.59

3930 0.49 220.5 3557 2232 1893 2179 144.6 8.6 446 3941 0.00 2.45 0.00 0.000 516 0.000 0.109 3558 842 2035 1892 2179 0 0 0 0 0 0 14.71 14.49 14.73

3987 0.49 220.5 3557 842 1892 2178 139.7 8.6 455 3999 0.00 2.47 0.00 0.000 1030 0.000 0.091 3557 2258 2035 1892 2179 0 0 0 0 0 0 14.61 14.52 14.62

4180 0.49 220.5 3557 2258 1893 2179 123.8 8.4 474 4191 0.00 2.53 0.00 0.000 516 0.000 0.109 3560 841 2035 1892 2179 0 0 0 0 0 0 14.73 14.50 14.74

4223 0.49 220.5 3557 841 1892 2179 120.1 8.4 480 4234 0.00 2.45 0.00 0.000 1030 0.000 0.093 3558 2243 2033 1892 2175 0 0 0 0 0 0 14.62 14.52 14.64

4425 0.49 220.5 3557 2243 1891 2178 104.7 6.9 500 4436 0.00 2.53 0.00 0.000 260 0.000 0.106 3558 3661 2034 1891 2178 0 0 0 0 0 0 14.73 14.53 14.76

4525 0.49 220.5 3557 3661 1890 2172 97.2 7.5 517 4538 0.00 2.50 0.00 0.000 1030 0.000 0.096 3557 2257 2034 1891 2177 0 0 0 0 0 0 14.62 14.52 14.64

4719 0.49 220.5 3557 2253 1890 2177 84.9 7.1 536 4730 0.00 0.00 0.00 0.000 6 0.000 0.000 3557 2253 2034 1891 2177 0 0 0 0 0 0 14.75 14.77 14.77

4912 0.51 220.5 3557 2253 1890 2183 70.8 6.2 555 4922 0.00 0.00 0.00 0.000 6 0.000 0.000 3560 2253 2033 1890 2177 0 0 0 0 0 0 14.76 14.77 14.77

5104 0.53 265.5 3557 2253 1896 2177 59.5 5.3 574 5144 0.00 0.00 32.28 0.805 8198 0.000 0.000 3557 2253 1854 1717 1992 0 0 0 0 0 0 14.76 14.48 14.10

5325 0.55 265.5 3557 2253 1713 1989 46.9 6.2 596 5336 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2252 1853 1713 1993 0 0 0 0 0 0 14.67 14.69 14.69

5517 0.59 265.5 3557 2253 1713 1993 35.5 5.8 615 5528 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2253 1853 1713 1993 0 0 0 0 0 0 14.69 14.72 14.72

5710 0.62 328.8 3557 2253 1713 1993 26.1 4.4 634 5768 0.08 2.60 42.47 0.747 10756 0.158 0.109 3635 839 1595 1453 1738 0 0 0 0 0 0 14.57 14.34 14.05

5811 0.62 328.8 3636 839 1449 1736 17.3 11.6 650 5822 0.15 2.50 0.00 0.000 5126 0.203 0.094 3596 2258 1595 1453 1737 0 0 0 0 0 0 14.33 14.39 14.46

5999 end climb: SURFACE_DEPTH_REACHED

state 5999 begin surface coast

6074 end surface coast: CONTROL_FINISHED_OK

state 6074 begin surface

ID	187	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
DIVE	94	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	19	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	ALTIM_SENSITIVITY	3
D_SURF	4	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_VALID	1
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_TGT	990	SM_CC	350	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.69999999
D_NO_BLEED	200	FILEMGR	0	VBD_MIN	470	DEEPGLIDER	0
D_BOOST	20	CALL_NDIVES	1	VBD_MAX	3900	MOTHERBOARD	4
T_BOOST	5	COMM_SEQ	0	C_VBD	2941	DEVICE1	-1
D_FINISH	0	PROTOCOL	8	VBD_DBAND	2	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00050000002	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_DIVE	450	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
T_MISSION	510	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN	225	T_GPS	5	W_ADJ_DBAND	2	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	N_GPS	100440	DBDW	0	COMPASS2_DEVICE	149
T_NO_W	120	T_RSLEEP	1	PITCH_W_GAIN	2	PHONE_DEVICE	49
T_LOITER	0	STROBE	0	PITCH_W_DBAND	0.5	GPS_DEVICE	64
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	100	MINV_24V	10	SIM_PITCH	0
D_OFFGRID	1000	PITCH_MAX	3850	MINV_10V	10	SEABIRD_T_G	0.0043979231
T_WATCHDOG	10	C_PITCH	3394	MAXI_24V	0.60000002	SEABIRD_T_H	0.00063691288
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.4734132e-05
APOGEE_PITCH	-7	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	2.9167527e-06
MAX_BUOY	110	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-9.67243
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1076213
GLIDE_SLOPE	30	PITCH_GAIN	44	PRESSURE_YINT	-164.55209	SEABIRD_C_I	-0.0017588359
SPEED_FACTOR	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001068	SEABIRD_C_J	0.00021615655
RHO	1.0275	PITCH_AD_RATE	165	AD7714Ch0Gain	1	SC_RECORDABOVE	2000.0
MASS	53572	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MIN	440	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
KALMAN_USE	2	ROLL_MAX	4000	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	1.0
HD_A	0.0026964601	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099003203	C_ROLL_DIVE	1900	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_C	2.26204e-06	C_ROLL_CLIMB	2250	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0

GPS1	050715,223926,4751.2573,-12511.2725,75,1.5,75,16.5,0.5,207.2,5,10.0	SPEED_LIMITS	0.127,0.207
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	1	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.99	MHEAD_RNG_PITCHd_Wd	218.7,166887,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-79.4	D_GRID	250
GPS2	050715,224716,4751.1602,-12511.2305,2,1.4,4,16.5,0.2,0.0,5,10.0

FINISH	-0.2,1.023468	_10V_AH	13.19,0.000
SM_CCo	6105,8.05,0.085,0,0,1513,350.04	FG_AHR_24Vo	0.000
SM_GC	3.03,9.70,0.68,8.05,0.047,0.106,0.085,92,1894,1513,-10.25,0.40,350.04,0,0,0,0,0,0,14.50,14.49,14.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12511.36,050715,210228	MEM	286372
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	23420,676
HUMID	48.85	CAP_FILE_SIZE	116520,0
INTERNAL_PRESSURE	9.08899	CFSIZE	260034560,247115776
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	0.060,129.68,1
SC_FREEKB	3901952	GPS	060715,003127,4750.625,-12511.903,46,1.1,53,16.5,0.6,140.6,9,7.1
_24V_AH	13.54,24.981

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	364	120.56	nil	0	0	0.00
Roll_motor	72	2220	2177.79	nil	0	0	0.00
VBD_pump_during_apogee	313	1015	4313.24	nil	0	0	0.00
VBD_pump_during_surface	8	84	9.26	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	6089	8	724.86
Iridium_during_xfer	240	138	450.57	PMAR	2399	8	291.17
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	15	1.25
TT8	1510	10	216.55
LPSleep	2646	2	76.45
TT8_Active	442	10	63.39
TT8_Sampling	1458	29	569.61
TT8_CF8	520	35	244.57
TT8_Kalman	0	0	0.00
Analog_circuits	1418	11	217.10
GPS_charging	0	0	0.00
Compass	1027	16	223.44
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
29	-0.39	-107.1	90	1884	1415	1612	0.0	0.0	0	91	0.00	0.00	-57.83	0.000	16386	0.000	0.000	90	1886	3064	3038	3091	0	0	0	0	0	0	14.62	28.83	14.64
98	-0.39	-107.1	89	1886	3040	3096	3.5	-5.2	6	128	13.48	2.83	-5.20	0.000	18692	0.365	2.221	3255	3300	3382	3356	3408	0	0	0	0	0	0	14.24	13.54	14.48
216	-0.39	-107.1	3252	3300	3358	3410	33.6	-16.7	27	225	0.00	2.53	0.00	0.000	1030	0.000	0.101	3253	1890	3383	3357	3410	0	0	0	0	0	0	14.48	14.38	14.49
406	-0.39	-107.1	3252	1890	3358	3412	61.2	-13.6	46	414	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	1891	3385	3358	3412	0	0	0	0	0	0	14.64	14.66	14.66
595	-0.39	-107.1	3252	1890	3364	3413	82.6	-10.6	65	604	0.00	2.58	0.00	0.000	260	0.000	0.106	3251	3320	3385	3357	3413	0	0	0	0	0	0	14.67	14.45	14.69
742	-0.39	-107.1	3250	3320	3358	3412	97.3	-10.2	92	751	0.00	2.50	0.00	0.000	1030	0.000	0.096	3251	1906	3385	3358	3413	0	0	0	0	0	0	14.57	14.47	14.59
932	-0.39	-107.1	3250	1905	3358	3414	119.1	-10.2	111	941	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1905	3385	3358	3412	0	0	0	0	0	0	14.70	14.74	14.71
1123	-0.39	-107.1	3251	1905	3358	3413	139.3	-9.9	130	1130	0.00	2.53	0.00	0.000	516	0.000	0.111	3251	487	3385	3358	3413	0	0	0	0	0	0	14.71	14.53	14.73
1205	-0.39	-107.1	3248	484	3359	3413	148.4	-11.0	145	1215	0.00	2.47	0.00	0.000	1030	0.000	0.093	3251	1897	3385	3358	3413	0	0	0	0	0	0	14.60	14.52	14.65
1396	-0.39	-107.1	3251	1899	3358	3413	166.9	-9.5	164	1404	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1898	3385	3358	3413	0	0	0	0	0	0	14.72	14.74	14.74
1586	-0.39	-107.1	3251	1897	3358	3413	184.8	-9.6	183	1594	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1898	3385	3358	3413	0	0	0	0	0	0	14.73	14.75	14.75
1776	-0.39	-107.1	3251	1898	3360	3413	203.8	-10.0	202	1784	0.00	2.53	0.00	0.000	516	0.000	0.112	3251	476	3385	3358	3413	0	0	0	0	0	0	14.74	14.51	14.76
1829	-0.39	-107.1	3251	477	3359	3413	209.8	-11.2	211	1837	0.00	2.50	0.00	0.000	1030	0.000	0.093	3251	1911	3385	3358	3413	0	0	0	0	0	0	14.62	14.54	14.64
2019	-0.39	-107.1	3251	1911	3358	3413	229.4	-10.3	230	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1911	3385	3358	3413	0	0	0	0	0	0	14.74	14.76	14.76
2208	-0.39	-107.1	3251	1911	3357	3413	249.5	-10.8	249	2217	0.00	2.55	0.00	0.000	516	0.000	0.112	3251	478	3384	3356	3413	0	0	0	0	0	0	14.75	14.52	14.77
2223	end dive: TARGET_DEPTH_EXCEEDED
state	2223	begin apogee
2237	-0.16	0.0	3253	2252	3357	3413	251.6	-11.1	251	2321	0.32	0.00	78.18	1.015	10246	0.197	0.000	3347	2251	2943	2882	3004	0	0	0	0	0	0	14.49	14.23	13.80
2324	end apogee: CONTROL_FINISHED_OK
state	2324	begin climb
2329	0.39	107.1	3343	2251	2877	3001	257.7	0.0	254	2424	0.50	2.62	77.43	0.985	10500	0.142	0.105	3515	3661	2500	2381	2619	0	0	0	0	0	0	14.19	13.97	13.63
2473	0.42	174.4	3514	3661	2380	2617	255.2	4.2	280	2536	0.00	2.60	48.47	0.984	9222	0.000	0.094	3516	2246	2229	2089	2370	0	0	0	0	0	0	14.22	14.15	13.64
2845	0.45	220.5	3516	2249	2090	2369	237.0	5.2	322	2893	0.00	2.58	34.97	0.973	8708	0.000	0.108	3513	840	2038	1894	2182	0	0	0	0	0	0	14.56	14.16	13.84
2964	0.49	220.5	3512	840	1894	2187	230.7	5.4	342	2976	0.10	2.53	0.00	0.000	3078	0.145	0.095	3581	2253	2037	1894	2181	0	0	0	0	0	0	14.32	14.30	14.38
3168	0.49	220.5	3582	2249	1893	2181	212.4	9.6	362	3179	0.00	2.55	0.00	0.000	260	0.000	0.107	3582	3661	2036	1889	2183	0	0	0	0	0	0	14.59	14.38	14.60
3230	0.49	220.5	3582	3661	1893	2180	205.3	11.7	372	3243	0.08	2.53	0.00	0.000	5126	0.200	0.096	3557	2250	2036	1893	2180	0	0	0	0	0	0	14.35	14.40	14.44
3434	0.49	220.5	3557	2249	1899	2185	186.9	8.9	392	3445	0.00	2.55	0.00	0.000	516	0.000	0.110	3558	819	2036	1893	2180	0	0	0	0	0	0	14.66	14.42	14.67
3490	0.49	220.5	3557	824	1893	2180	181.7	9.1	401	3503	0.00	2.50	0.00	0.000	1030	0.000	0.093	3557	2245	2036	1893	2180	0	0	0	0	0	0	14.57	14.47	14.57
3684	0.49	220.5	3557	2243	1893	2180	166.1	7.5	420	3695	0.00	2.55	0.00	0.000	260	0.000	0.106	3557	3672	2036	1892	2180	0	0	0	0	0	0	14.69	14.49	14.71
3727	0.49	220.5	3557	3672	1892	2179	162.5	8.9	426	3738	0.00	2.55	0.00	0.000	1030	0.000	0.096	3558	2232	2036	1893	2179	0	0	0	0	0	0	14.57	14.47	14.59
3930	0.49	220.5	3557	2232	1893	2179	144.6	8.6	446	3941	0.00	2.45	0.00	0.000	516	0.000	0.109	3558	842	2035	1892	2179	0	0	0	0	0	0	14.71	14.49	14.73
3987	0.49	220.5	3557	842	1892	2178	139.7	8.6	455	3999	0.00	2.47	0.00	0.000	1030	0.000	0.091	3557	2258	2035	1892	2179	0	0	0	0	0	0	14.61	14.52	14.62
4180	0.49	220.5	3557	2258	1893	2179	123.8	8.4	474	4191	0.00	2.53	0.00	0.000	516	0.000	0.109	3560	841	2035	1892	2179	0	0	0	0	0	0	14.73	14.50	14.74
4223	0.49	220.5	3557	841	1892	2179	120.1	8.4	480	4234	0.00	2.45	0.00	0.000	1030	0.000	0.093	3558	2243	2033	1892	2175	0	0	0	0	0	0	14.62	14.52	14.64
4425	0.49	220.5	3557	2243	1891	2178	104.7	6.9	500	4436	0.00	2.53	0.00	0.000	260	0.000	0.106	3558	3661	2034	1891	2178	0	0	0	0	0	0	14.73	14.53	14.76
4525	0.49	220.5	3557	3661	1890	2172	97.2	7.5	517	4538	0.00	2.50	0.00	0.000	1030	0.000	0.096	3557	2257	2034	1891	2177	0	0	0	0	0	0	14.62	14.52	14.64
4719	0.49	220.5	3557	2253	1890	2177	84.9	7.1	536	4730	0.00	0.00	0.00	0.000	6	0.000	0.000	3557	2253	2034	1891	2177	0	0	0	0	0	0	14.75	14.77	14.77
4912	0.51	220.5	3557	2253	1890	2183	70.8	6.2	555	4922	0.00	0.00	0.00	0.000	6	0.000	0.000	3560	2253	2033	1890	2177	0	0	0	0	0	0	14.76	14.77	14.77
5104	0.53	265.5	3557	2253	1896	2177	59.5	5.3	574	5144	0.00	0.00	32.28	0.805	8198	0.000	0.000	3557	2253	1854	1717	1992	0	0	0	0	0	0	14.76	14.48	14.10
5325	0.55	265.5	3557	2253	1713	1989	46.9	6.2	596	5336	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2252	1853	1713	1993	0	0	0	0	0	0	14.67	14.69	14.69
5517	0.59	265.5	3557	2253	1713	1993	35.5	5.8	615	5528	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2253	1853	1713	1993	0	0	0	0	0	0	14.69	14.72	14.72
5710	0.62	328.8	3557	2253	1713	1993	26.1	4.4	634	5768	0.08	2.60	42.47	0.747	10756	0.158	0.109	3635	839	1595	1453	1738	0	0	0	0	0	0	14.57	14.34	14.05
5811	0.62	328.8	3636	839	1449	1736	17.3	11.6	650	5822	0.15	2.50	0.00	0.000	5126	0.203	0.094	3596	2258	1595	1453	1737	0	0	0	0	0	0	14.33	14.39	14.46
5999	end climb: SURFACE_DEPTH_REACHED
state	5999	begin surface coast
6074	end surface coast: CONTROL_FINISHED_OK
state	6074	begin surface