Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 99 * 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 99 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 2175 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2300 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 8 R_PORT_OVSHOOT 41 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 28 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 1 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 450 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 500 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 5 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 -1587742.4 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 22 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 150 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 450

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 -1587742.4

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 500

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 5

C_ROLL_CLIMB 2300 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2175 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 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 R_STBD_OVSHOOT 28 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 99 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 8 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 1 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 021012,065213,4748.549,-12513.500,14,2.0,15,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 1.52 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -74.5 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 021012,065825,4748.484,-12513.532,15,1.9,15,18.7 MHEAD_RNG_PITCHd_Wd 192.1,161698,-13.4,-7.333,-18.42

SPEED_LIMITS 0.127,0.220 D_GRID 526

Post-dive calculations and measurements:

FINISH 1.1,1.024352 _10V_AH 10.2,12.780

SM_CCo 12196,2.35,0.094,0,0,1571,300.00 FG_AHR_24Vo 0.000

SM_GC 2.56,8.30,0.22,2.35,0.030,0.069,0.094,118,2158,1571,-9.48,0.96,300.00,0,0,0,0,0,0,25.98,25.94,25.84 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12512.13,021012,040438 MEM 297096

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 53604,956

HUMID 44.36 CAP_FILE_SIZE 117416,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260165632,249794560

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

XPDR_PINGS 2 CURRENT 0.142, 14.4,1

_24V_AH 23.9,14.967 GPS 021012,102406,4747.687,-12514.829,70,1.7,71,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 223 113.45 SBE_CT 655 24 376.26

Roll_motor 105 80 202.92 SBE_O2 612 19 278.33

VBD_pump_during_apogee 368 901 7935.39 WL_BBFL2VMT 559 105 1402.92

VBD_pump_during_surface 2 94 5.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.66 nil 0 0 0.00

Iridium_during_connect 38 160 146.05 nil 0 0 0.00

Iridium_during_xfer 189 223 1011.48 nil 0 0 0.00

Transponder_ping 0 420 5.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.59

TT8 2416 19 488.11

LPSleep 7285 2 162.75

TT8_Active 465 19 93.93

TT8_Sampling 2137 39 867.63

TT8_CF8 273 45 127.58

TT8_Kalman 0 0 0.00

Analog_circuits 1409 12 172.49

GPS_charging 0 0 0.00

Compass 1886 15 288.62

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 -0.48 -146.0 0.0 0.0 0 86 0.00 0.00 -67.43 0.000 2 0.000 0.000 110 2157 2799 0 0 0 0 0 0 28.83 28.83 28.83

90 -0.48 -146.0 3.2 -5.1 11 123 11.32 2.35 -11.93 0.000 4 0.223 0.076 3027 3577 3394 0 0 0 0 0 0 25.36 25.63 25.98

279 -0.48 -146.0 35.8 -12.9 45 286 0.00 2.17 0.00 0.000 6 0.000 0.042 3026 2165 3397 0 0 0 0 0 0 28.83 25.80 28.83

603 -0.48 -146.0 79.9 -11.9 106 610 0.00 2.25 0.00 0.000 4 0.000 0.060 3017 3581 3399 0 0 0 0 0 0 28.83 25.89 28.83

634 -0.48 -146.0 83.8 -12.7 111 641 0.00 2.15 0.00 0.000 6 0.000 0.042 3016 2171 3399 0 0 0 0 0 0 28.83 25.96 28.83

958 -0.48 -146.0 122.3 -11.9 172 963 0.00 2.15 0.00 0.000 4 0.000 0.050 3016 769 3399 0 0 0 0 0 0 28.83 26.02 28.83

1019 -0.48 -146.0 129.3 -11.4 176 1025 0.12 2.15 0.00 0.000 6 0.148 0.049 3041 2174 3399 0 0 0 0 0 0 25.94 26.03 28.83

1336 -0.48 -146.0 155.3 -8.1 197 1342 0.00 2.17 0.00 0.000 4 0.000 0.063 3033 3579 3398 0 0 0 0 0 0 28.83 26.06 28.83

1373 -0.48 -146.0 158.0 -8.1 199 1380 0.00 2.12 0.00 0.000 6 0.000 0.043 3032 2168 3399 0 0 0 0 0 0 28.83 26.13 28.83

1681 -0.48 -146.0 188.5 -9.5 220 1682 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2167 3399 0 0 0 0 0 0 28.83 28.83 28.83

1980 -0.48 -146.0 217.4 -8.9 237 1984 0.00 2.15 0.00 0.000 4 0.000 0.050 3032 781 3399 0 0 0 0 0 0 28.83 26.17 28.83

2023 -0.48 -146.0 221.4 -9.1 239 2028 0.00 2.15 0.00 0.000 6 0.000 0.050 3024 2183 3398 0 0 0 0 0 0 28.83 26.17 28.83

2343 -0.48 -146.0 251.6 -9.9 255 2348 0.00 2.17 0.00 0.000 4 0.000 0.063 3013 3580 3398 0 0 0 0 0 0 28.83 26.17 28.83

2382 -0.48 -146.0 256.0 -10.6 257 2388 0.00 2.12 0.00 0.000 6 0.000 0.044 3013 2180 3398 0 0 0 0 0 0 28.83 26.23 28.83

2702 -0.48 -146.0 292.3 -11.2 273 2703 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2176 3398 0 0 0 0 0 0 28.83 28.83 28.83

3002 -0.48 -146.0 324.7 -10.4 288 3003 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2176 3397 0 0 0 0 0 0 28.83 28.83 28.83

3303 -0.48 -146.0 354.0 -9.5 303 3306 0.00 2.15 0.00 0.000 4 0.000 0.052 3013 775 3397 0 0 0 0 0 0 28.83 26.25 28.83

3344 -0.48 -146.0 358.1 -9.6 305 3351 0.12 2.17 0.00 0.000 6 0.151 0.051 3039 2182 3397 0 0 0 0 0 0 26.15 26.25 28.83

3665 -0.48 -146.0 380.8 -7.0 321 3670 0.00 2.17 0.00 0.000 4 0.000 0.064 3030 3581 3396 0 0 0 0 0 0 28.83 26.22 28.83

3732 -0.48 -146.0 385.2 -7.4 324 3736 0.00 2.15 0.00 0.000 6 0.000 0.044 3030 2170 3396 0 0 0 0 0 0 28.83 26.29 28.83

4054 -0.48 -146.0 414.3 -9.0 338 4055 0.00 0.00 0.00 0.000 6 0.000 0.000 3030 2168 3395 0 0 0 0 0 0 28.83 28.83 28.83

4354 -0.48 -146.0 441.1 -9.0 348 4360 0.00 2.25 0.00 0.000 4 0.000 0.064 3020 3591 3395 0 0 0 0 0 0 28.83 26.24 28.83

4387 -0.48 -146.0 443.9 -9.1 349 4391 0.00 2.15 0.00 0.000 6 0.000 0.045 3020 2176 3395 0 0 0 0 0 0 28.83 26.32 28.83

4715 -0.48 -146.0 475.6 -9.4 360 4716 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2172 3394 0 0 0 0 0 0 28.83 28.83 28.83

5014 -0.48 -146.0 503.8 -9.7 370 5020 0.00 2.22 0.00 0.000 4 0.000 0.065 3009 3586 3394 0 0 0 0 0 0 28.83 26.25 28.83

5047 -0.48 -146.0 506.9 -10.0 371 5051 0.12 2.15 0.00 0.000 6 0.137 0.046 3045 2167 3394 0 0 0 0 0 0 26.20 26.32 28.83

5277 end dive: TARGET_DEPTH_EXCEEDED

state 5277 begin apogee

5284 -0.22 0.0 527.1 -8.3 379 5411 0.22 0.00 120.72 0.902 6 0.122 0.000 3125 2311 2793 0 0 0 0 0 0 26.21 28.83 24.10

5414 end apogee: CONTROL_FINISHED_OK

state 5414 begin climb

5417 0.48 146.0 532.4 0.0 383 5549 0.65 0.00 126.65 0.871 6 0.090 0.000 3342 2311 2197 0 0 0 0 0 0 24.79 28.83 23.85

5849 0.48 146.0 504.7 7.7 398 5851 0.00 0.00 0.00 0.000 6 0.000 0.000 3342 2312 2188 0 0 0 0 0 0 28.83 28.83 28.83

6150 0.48 146.0 479.6 8.2 408 6155 0.00 2.25 0.00 0.000 4 0.000 0.067 3342 3704 2187 0 0 0 0 0 0 28.83 25.70 28.83

6203 0.48 146.0 476.7 8.5 409 6209 0.00 2.17 0.00 0.000 6 0.000 0.047 3351 2308 2186 0 0 0 0 0 0 28.83 25.77 28.83

6509 0.48 146.0 448.4 8.0 420 6515 0.00 2.25 0.00 0.000 4 0.000 0.067 3351 3705 2186 0 0 0 0 0 0 28.83 25.86 28.83

6547 0.48 146.0 445.7 8.2 421 6551 0.00 2.20 0.00 0.000 6 0.000 0.048 3361 2299 2185 0 0 0 0 0 0 28.83 25.92 28.83

6865 0.48 146.0 416.1 9.1 432 6870 0.00 2.22 0.00 0.000 4 0.000 0.066 3362 3697 2185 0 0 0 0 0 0 28.83 25.96 28.83

6917 0.48 146.0 413.1 9.3 433 6924 0.00 2.17 0.00 0.000 6 0.000 0.047 3371 2293 2184 0 0 0 0 0 0 28.83 26.03 28.83

7225 0.48 146.0 380.5 9.8 447 7226 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2287 2184 0 0 0 0 0 0 28.83 28.83 28.83

7526 0.48 146.0 352.0 9.5 462 7532 0.00 2.22 0.00 0.000 4 0.000 0.066 3371 3696 2184 0 0 0 0 0 0 28.83 26.08 28.83

7558 0.48 146.0 350.1 9.6 463 7565 0.12 2.15 0.00 0.000 6 0.154 0.047 3348 2300 2183 0 0 0 0 0 0 26.00 26.13 28.83

7865 0.48 146.0 325.7 7.5 479 7870 0.00 2.15 0.00 0.000 4 0.000 0.055 3356 900 2183 0 0 0 0 0 0 28.83 26.13 28.83

7898 0.48 146.0 324.2 7.5 480 7905 0.00 2.15 0.00 0.000 6 0.000 0.054 3356 2294 2183 0 0 0 0 0 0 28.83 26.13 28.83

8205 0.48 146.0 298.6 7.9 496 8210 0.00 2.25 0.00 0.000 4 0.000 0.067 3356 3714 2183 0 0 0 0 0 0 28.83 26.13 28.83

8247 0.48 146.0 295.1 8.2 498 8251 0.00 2.20 0.00 0.000 6 0.000 0.047 3366 2293 2182 0 0 0 0 0 0 28.83 26.19 28.83

8560 0.48 146.0 270.3 7.6 514 8565 0.00 2.25 0.00 0.000 4 0.000 0.066 3366 3709 2182 0 0 0 0 0 0 28.83 26.15 28.83

8600 0.48 146.0 266.7 8.2 516 8605 0.00 2.17 0.00 0.000 6 0.000 0.048 3376 2298 2182 0 0 0 0 0 0 28.83 26.21 28.83

8920 0.48 146.0 238.6 9.0 532 8923 0.00 2.25 0.00 0.000 4 0.000 0.067 3376 3708 2182 0 0 0 0 0 0 28.83 26.17 28.83

8982 0.48 146.0 232.1 10.0 535 8988 0.10 2.15 0.00 0.000 6 0.129 0.048 3352 2304 2182 0 0 0 0 0 0 26.09 26.24 28.83

9302 0.48 146.0 207.3 8.0 551 9307 0.00 2.20 0.00 0.000 4 0.000 0.066 3352 3704 2182 0 0 0 0 0 0 28.83 26.19 28.83

9330 0.48 146.0 205.6 8.1 552 9334 0.00 2.17 0.00 0.000 6 0.000 0.047 3360 2288 2182 0 0 0 0 0 0 28.83 26.25 28.83

9638 0.48 146.0 178.0 9.0 571 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 2281 2182 0 0 0 0 0 0 28.83 28.83 28.83

9938 0.48 146.0 152.8 7.7 591 9943 0.00 2.12 0.00 0.000 4 0.000 0.054 3370 888 2182 0 0 0 0 0 0 28.83 26.24 28.83

9969 0.48 146.0 150.4 7.6 593 9973 0.00 2.17 0.00 0.000 6 0.000 0.054 3370 2302 2181 0 0 0 0 0 0 28.83 26.24 28.83

10278 0.48 163.9 127.9 6.6 613 10298 0.00 2.30 13.70 0.640 4 0.000 0.065 3370 3714 2124 0 0 0 0 0 0 28.83 26.08 25.44

10346 0.48 165.0 123.5 7.3 617 10352 0.00 2.20 0.00 0.000 6 0.000 0.047 3380 2290 2122 0 0 0 0 0 0 28.83 26.13 28.83

10655 0.48 165.0 97.1 8.1 674 10663 0.00 2.17 0.00 0.000 4 0.000 0.054 3390 885 2120 0 0 0 0 0 0 28.83 26.13 28.83

10676 0.48 165.0 95.4 8.5 677 10684 0.15 2.17 0.00 0.000 6 0.138 0.054 3349 2300 2120 0 0 0 0 0 0 26.03 26.13 28.83

10992 0.49 185.5 75.7 6.5 738 11017 0.00 0.00 18.90 0.623 6 0.000 0.000 3349 2300 2035 0 0 0 0 0 0 28.83 28.83 25.34

11334 0.52 256.5 60.8 4.6 802 11398 0.00 2.33 57.22 0.619 4 0.000 0.063 3349 3712 1746 0 0 0 0 0 0 28.83 25.37 24.86

11438 0.54 294.8 55.7 5.9 819 11477 0.00 2.22 30.92 0.590 6 0.000 0.046 3352 2295 1590 0 0 0 0 0 0 28.83 25.51 24.68

11795 0.54 294.8 27.7 7.4 885 11802 0.00 2.20 0.00 0.000 4 0.000 0.052 3352 896 1581 0 0 0 0 0 0 28.83 25.70 28.83

11873 0.54 294.8 22.3 7.4 899 11880 0.00 2.20 0.00 0.000 6 0.000 0.050 3352 2313 1581 0 0 0 0 0 0 28.83 25.75 28.83

12133 end climb: SURFACE_DEPTH_REACHED

state 12133 begin surface coast

12176 end surface coast: CONTROL_FINISHED_OK

state 12176 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	99	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	2175	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2300	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	8	R_PORT_OVSHOOT	41	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	28	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	1	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	450	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	500	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	5	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	-1587742.4	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	22	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	150	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	021012,065213,4748.549,-12513.500,14,2.0,15,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	1.52	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-74.5	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	021012,065825,4748.484,-12513.532,15,1.9,15,18.7	MHEAD_RNG_PITCHd_Wd	192.1,161698,-13.4,-7.333,-18.42
SPEED_LIMITS	0.127,0.220	D_GRID	526

FINISH	1.1,1.024352	_10V_AH	10.2,12.780
SM_CCo	12196,2.35,0.094,0,0,1571,300.00	FG_AHR_24Vo	0.000
SM_GC	2.56,8.30,0.22,2.35,0.030,0.069,0.094,118,2158,1571,-9.48,0.96,300.00,0,0,0,0,0,0,25.98,25.94,25.84	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12512.13,021012,040438	MEM	297096
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	53604,956
HUMID	44.36	CAP_FILE_SIZE	117416,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260165632,249794560
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.142, 14.4,1
_24V_AH	23.9,14.967	GPS	021012,102406,4747.687,-12514.829,70,1.7,71,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	223	113.45	SBE_CT	655	24	376.26
Roll_motor	105	80	202.92	SBE_O2	612	19	278.33
VBD_pump_during_apogee	368	901	7935.39	WL_BBFL2VMT	559	105	1402.92
VBD_pump_during_surface	2	94	5.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.66	nil	0	0	0.00
Iridium_during_connect	38	160	146.05	nil	0	0	0.00
Iridium_during_xfer	189	223	1011.48	nil	0	0	0.00
Transponder_ping	0	420	5.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.59
TT8	2416	19	488.11
LPSleep	7285	2	162.75
TT8_Active	465	19	93.93
TT8_Sampling	2137	39	867.63
TT8_CF8	273	45	127.58
TT8_Kalman	0	0	0.00
Analog_circuits	1409	12	172.49
GPS_charging	0	0	0.00
Compass	1886	15	288.62
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	-0.48	-146.0	0.0	0.0	0	86	0.00	0.00	-67.43	0.000	2	0.000	0.000	110	2157	2799	0	0	0	0	0	0	28.83	28.83	28.83
90	-0.48	-146.0	3.2	-5.1	11	123	11.32	2.35	-11.93	0.000	4	0.223	0.076	3027	3577	3394	0	0	0	0	0	0	25.36	25.63	25.98
279	-0.48	-146.0	35.8	-12.9	45	286	0.00	2.17	0.00	0.000	6	0.000	0.042	3026	2165	3397	0	0	0	0	0	0	28.83	25.80	28.83
603	-0.48	-146.0	79.9	-11.9	106	610	0.00	2.25	0.00	0.000	4	0.000	0.060	3017	3581	3399	0	0	0	0	0	0	28.83	25.89	28.83
634	-0.48	-146.0	83.8	-12.7	111	641	0.00	2.15	0.00	0.000	6	0.000	0.042	3016	2171	3399	0	0	0	0	0	0	28.83	25.96	28.83
958	-0.48	-146.0	122.3	-11.9	172	963	0.00	2.15	0.00	0.000	4	0.000	0.050	3016	769	3399	0	0	0	0	0	0	28.83	26.02	28.83
1019	-0.48	-146.0	129.3	-11.4	176	1025	0.12	2.15	0.00	0.000	6	0.148	0.049	3041	2174	3399	0	0	0	0	0	0	25.94	26.03	28.83
1336	-0.48	-146.0	155.3	-8.1	197	1342	0.00	2.17	0.00	0.000	4	0.000	0.063	3033	3579	3398	0	0	0	0	0	0	28.83	26.06	28.83
1373	-0.48	-146.0	158.0	-8.1	199	1380	0.00	2.12	0.00	0.000	6	0.000	0.043	3032	2168	3399	0	0	0	0	0	0	28.83	26.13	28.83
1681	-0.48	-146.0	188.5	-9.5	220	1682	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2167	3399	0	0	0	0	0	0	28.83	28.83	28.83
1980	-0.48	-146.0	217.4	-8.9	237	1984	0.00	2.15	0.00	0.000	4	0.000	0.050	3032	781	3399	0	0	0	0	0	0	28.83	26.17	28.83
2023	-0.48	-146.0	221.4	-9.1	239	2028	0.00	2.15	0.00	0.000	6	0.000	0.050	3024	2183	3398	0	0	0	0	0	0	28.83	26.17	28.83
2343	-0.48	-146.0	251.6	-9.9	255	2348	0.00	2.17	0.00	0.000	4	0.000	0.063	3013	3580	3398	0	0	0	0	0	0	28.83	26.17	28.83
2382	-0.48	-146.0	256.0	-10.6	257	2388	0.00	2.12	0.00	0.000	6	0.000	0.044	3013	2180	3398	0	0	0	0	0	0	28.83	26.23	28.83
2702	-0.48	-146.0	292.3	-11.2	273	2703	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2176	3398	0	0	0	0	0	0	28.83	28.83	28.83
3002	-0.48	-146.0	324.7	-10.4	288	3003	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2176	3397	0	0	0	0	0	0	28.83	28.83	28.83
3303	-0.48	-146.0	354.0	-9.5	303	3306	0.00	2.15	0.00	0.000	4	0.000	0.052	3013	775	3397	0	0	0	0	0	0	28.83	26.25	28.83
3344	-0.48	-146.0	358.1	-9.6	305	3351	0.12	2.17	0.00	0.000	6	0.151	0.051	3039	2182	3397	0	0	0	0	0	0	26.15	26.25	28.83
3665	-0.48	-146.0	380.8	-7.0	321	3670	0.00	2.17	0.00	0.000	4	0.000	0.064	3030	3581	3396	0	0	0	0	0	0	28.83	26.22	28.83
3732	-0.48	-146.0	385.2	-7.4	324	3736	0.00	2.15	0.00	0.000	6	0.000	0.044	3030	2170	3396	0	0	0	0	0	0	28.83	26.29	28.83
4054	-0.48	-146.0	414.3	-9.0	338	4055	0.00	0.00	0.00	0.000	6	0.000	0.000	3030	2168	3395	0	0	0	0	0	0	28.83	28.83	28.83
4354	-0.48	-146.0	441.1	-9.0	348	4360	0.00	2.25	0.00	0.000	4	0.000	0.064	3020	3591	3395	0	0	0	0	0	0	28.83	26.24	28.83
4387	-0.48	-146.0	443.9	-9.1	349	4391	0.00	2.15	0.00	0.000	6	0.000	0.045	3020	2176	3395	0	0	0	0	0	0	28.83	26.32	28.83
4715	-0.48	-146.0	475.6	-9.4	360	4716	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2172	3394	0	0	0	0	0	0	28.83	28.83	28.83
5014	-0.48	-146.0	503.8	-9.7	370	5020	0.00	2.22	0.00	0.000	4	0.000	0.065	3009	3586	3394	0	0	0	0	0	0	28.83	26.25	28.83
5047	-0.48	-146.0	506.9	-10.0	371	5051	0.12	2.15	0.00	0.000	6	0.137	0.046	3045	2167	3394	0	0	0	0	0	0	26.20	26.32	28.83
5277	end dive: TARGET_DEPTH_EXCEEDED
state	5277	begin apogee
5284	-0.22	0.0	527.1	-8.3	379	5411	0.22	0.00	120.72	0.902	6	0.122	0.000	3125	2311	2793	0	0	0	0	0	0	26.21	28.83	24.10
5414	end apogee: CONTROL_FINISHED_OK
state	5414	begin climb
5417	0.48	146.0	532.4	0.0	383	5549	0.65	0.00	126.65	0.871	6	0.090	0.000	3342	2311	2197	0	0	0	0	0	0	24.79	28.83	23.85
5849	0.48	146.0	504.7	7.7	398	5851	0.00	0.00	0.00	0.000	6	0.000	0.000	3342	2312	2188	0	0	0	0	0	0	28.83	28.83	28.83
6150	0.48	146.0	479.6	8.2	408	6155	0.00	2.25	0.00	0.000	4	0.000	0.067	3342	3704	2187	0	0	0	0	0	0	28.83	25.70	28.83
6203	0.48	146.0	476.7	8.5	409	6209	0.00	2.17	0.00	0.000	6	0.000	0.047	3351	2308	2186	0	0	0	0	0	0	28.83	25.77	28.83
6509	0.48	146.0	448.4	8.0	420	6515	0.00	2.25	0.00	0.000	4	0.000	0.067	3351	3705	2186	0	0	0	0	0	0	28.83	25.86	28.83
6547	0.48	146.0	445.7	8.2	421	6551	0.00	2.20	0.00	0.000	6	0.000	0.048	3361	2299	2185	0	0	0	0	0	0	28.83	25.92	28.83
6865	0.48	146.0	416.1	9.1	432	6870	0.00	2.22	0.00	0.000	4	0.000	0.066	3362	3697	2185	0	0	0	0	0	0	28.83	25.96	28.83
6917	0.48	146.0	413.1	9.3	433	6924	0.00	2.17	0.00	0.000	6	0.000	0.047	3371	2293	2184	0	0	0	0	0	0	28.83	26.03	28.83
7225	0.48	146.0	380.5	9.8	447	7226	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2287	2184	0	0	0	0	0	0	28.83	28.83	28.83
7526	0.48	146.0	352.0	9.5	462	7532	0.00	2.22	0.00	0.000	4	0.000	0.066	3371	3696	2184	0	0	0	0	0	0	28.83	26.08	28.83
7558	0.48	146.0	350.1	9.6	463	7565	0.12	2.15	0.00	0.000	6	0.154	0.047	3348	2300	2183	0	0	0	0	0	0	26.00	26.13	28.83
7865	0.48	146.0	325.7	7.5	479	7870	0.00	2.15	0.00	0.000	4	0.000	0.055	3356	900	2183	0	0	0	0	0	0	28.83	26.13	28.83
7898	0.48	146.0	324.2	7.5	480	7905	0.00	2.15	0.00	0.000	6	0.000	0.054	3356	2294	2183	0	0	0	0	0	0	28.83	26.13	28.83
8205	0.48	146.0	298.6	7.9	496	8210	0.00	2.25	0.00	0.000	4	0.000	0.067	3356	3714	2183	0	0	0	0	0	0	28.83	26.13	28.83
8247	0.48	146.0	295.1	8.2	498	8251	0.00	2.20	0.00	0.000	6	0.000	0.047	3366	2293	2182	0	0	0	0	0	0	28.83	26.19	28.83
8560	0.48	146.0	270.3	7.6	514	8565	0.00	2.25	0.00	0.000	4	0.000	0.066	3366	3709	2182	0	0	0	0	0	0	28.83	26.15	28.83
8600	0.48	146.0	266.7	8.2	516	8605	0.00	2.17	0.00	0.000	6	0.000	0.048	3376	2298	2182	0	0	0	0	0	0	28.83	26.21	28.83
8920	0.48	146.0	238.6	9.0	532	8923	0.00	2.25	0.00	0.000	4	0.000	0.067	3376	3708	2182	0	0	0	0	0	0	28.83	26.17	28.83
8982	0.48	146.0	232.1	10.0	535	8988	0.10	2.15	0.00	0.000	6	0.129	0.048	3352	2304	2182	0	0	0	0	0	0	26.09	26.24	28.83
9302	0.48	146.0	207.3	8.0	551	9307	0.00	2.20	0.00	0.000	4	0.000	0.066	3352	3704	2182	0	0	0	0	0	0	28.83	26.19	28.83
9330	0.48	146.0	205.6	8.1	552	9334	0.00	2.17	0.00	0.000	6	0.000	0.047	3360	2288	2182	0	0	0	0	0	0	28.83	26.25	28.83
9638	0.48	146.0	178.0	9.0	571	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	3360	2281	2182	0	0	0	0	0	0	28.83	28.83	28.83
9938	0.48	146.0	152.8	7.7	591	9943	0.00	2.12	0.00	0.000	4	0.000	0.054	3370	888	2182	0	0	0	0	0	0	28.83	26.24	28.83
9969	0.48	146.0	150.4	7.6	593	9973	0.00	2.17	0.00	0.000	6	0.000	0.054	3370	2302	2181	0	0	0	0	0	0	28.83	26.24	28.83
10278	0.48	163.9	127.9	6.6	613	10298	0.00	2.30	13.70	0.640	4	0.000	0.065	3370	3714	2124	0	0	0	0	0	0	28.83	26.08	25.44
10346	0.48	165.0	123.5	7.3	617	10352	0.00	2.20	0.00	0.000	6	0.000	0.047	3380	2290	2122	0	0	0	0	0	0	28.83	26.13	28.83
10655	0.48	165.0	97.1	8.1	674	10663	0.00	2.17	0.00	0.000	4	0.000	0.054	3390	885	2120	0	0	0	0	0	0	28.83	26.13	28.83
10676	0.48	165.0	95.4	8.5	677	10684	0.15	2.17	0.00	0.000	6	0.138	0.054	3349	2300	2120	0	0	0	0	0	0	26.03	26.13	28.83
10992	0.49	185.5	75.7	6.5	738	11017	0.00	0.00	18.90	0.623	6	0.000	0.000	3349	2300	2035	0	0	0	0	0	0	28.83	28.83	25.34
11334	0.52	256.5	60.8	4.6	802	11398	0.00	2.33	57.22	0.619	4	0.000	0.063	3349	3712	1746	0	0	0	0	0	0	28.83	25.37	24.86
11438	0.54	294.8	55.7	5.9	819	11477	0.00	2.22	30.92	0.590	6	0.000	0.046	3352	2295	1590	0	0	0	0	0	0	28.83	25.51	24.68
11795	0.54	294.8	27.7	7.4	885	11802	0.00	2.20	0.00	0.000	4	0.000	0.052	3352	896	1581	0	0	0	0	0	0	28.83	25.70	28.83
11873	0.54	294.8	22.3	7.4	899	11880	0.00	2.20	0.00	0.000	6	0.000	0.050	3352	2313	1581	0	0	0	0	0	0	28.83	25.75	28.83
12133	end climb: SURFACE_DEPTH_REACHED
state	12133	begin surface coast
12176	end surface coast: CONTROL_FINISHED_OK
state	12176	begin surface