Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 229 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PULSE 4

MISSION 25 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

DIVE 229 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 75 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_TGT 990 SM_CC 375 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_ABORT 1030 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 VBD_MIN 448 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MAX 4001 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 C_VBD 3009 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 86

T_DIVE 410 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 430 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 20 DBDW 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -193793.44 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 AH0_24V 150 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 108 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 MINV_24V 22 SEABIRD_T_G 0.0042902208

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 SEABIRD_T_H 0.00062879291

T_WATCHDOG 10 PITCH_MIN 350 FG_AHR_10V 0 SEABIRD_T_I 2.3436274e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_24V 0 SEABIRD_T_J 2.4509632e-06

APOGEE_PITCH -5 C_PITCH 3200 PHONE_SUPPLY -2 SEABIRD_C_G -9.8955164

MAX_BUOY 110 PITCH_DBAND 0.1 PRESSURE_YINT -21.975828 SEABIRD_C_H 1.1345812

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_C_I -0.0014690319

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.0002024868

SPEED_FACTOR 1 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 51925 PITCH_AD_RATE 150 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITPROFILE 1.0

KALMAN_USE 2 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0020999999 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 0 PM_NDIVE 14.0

HD_B 0.0116 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HD_C 9.4299997e-07 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 10

HEADING -1 C_ROLL_CLIMB 2025 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SIM_PITCH 0

AH0_10V 108 D_SURF 4 PITCH_DBAND 0.1 SIM_W 0

AH0_24V 150 D_TGT 990 PITCH_GAIN 20 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3700 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 350 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_TIMEOUT 20 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.003 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FILEMGR 0 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PM_NDIVE 14.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PM_PROFILE 1.0 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 HD_B 0.0116 PM_XMITPROFILE 1.0 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.4299997e-07 PM_XMITRAW 0.0 T_BOOST 5

CALL_TRIES 5 HEADING -1 PRESSURE_SLOPE 0.0001161151 T_DIVE 410

CALL_WAIT 60 HEAD_ERRBAND 10 PRESSURE_YINT -21.975828 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 108 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -193793.44

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_MISSION 430

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 53 RELAUNCH 1 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE2 86 RHO 1.0275 T_TURN 225

C_PITCH 3200 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERS 3 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_VBD 3009 MASS 51925 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 110 ROLL_MAX 3598 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 9.5 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 22 ROLL_MIN 294 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 25 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 R_PORT_OVSHOOT 75 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 54 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 163 SC_PROFILE 3.0 VBD_MIN 448

DEVICE6 -1 N_DIVES 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 229 N_FILEKB 8 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1030 N_GPS 20 SEABIRD_C_G -9.8955164 VBD_TIMEOUT 720

D_BOOST 20 N_NOCOMM 1 SEABIRD_C_H 1.1345812 W_ADJ_DBAND 0

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_I -0.0014690319 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_J 0.0002024868 XPDR_INHIBIT 90

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_T_G 0.0042902208 XPDR_VALID 5

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_T_H 0.00062879291

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.3436274e-05

D_PITCH 0 PITCH_AD_RATE 150 SEABIRD_T_J 2.4509632e-06

Pre-dive calculations and measurements:

GPS1 041113,120700,4749.004,-12517.502,16,1.3,16,17.2 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.930,-12510.270

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041113,121223,4749.035,-12517.480,16,1.0,17,17.2 MHEAD_RNG_PITCHd_Wd 66.3,10441,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 490

Post-dive calculations and measurements:

FINISH 1.6,1.023374 _24V_AH 24.4,25.495

SM_CCo 8387,71.43,0.057,0,0,1479,375.06 _10V_AH 9.6,29.919

SM_GC 2.74,8.82,0.43,71.43,0.042,0.045,0.057,330,2297,1479,-8.89,-1.64,375.06,0,0,0,0,0,0,26.10,26.11,26.04 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12519.98,041113,090920 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 258736

HUMID 55.43 DATA_FILE_SIZE 16766,461

INTERNAL_PRESSURE 9.01402 CAP_FILE_SIZE 115543,0

TCM_TEMP 18.00 CFSIZE 260034560,223289344

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

SC_FREEKB 3864832 CURRENT 0.058,302.1,1

PM_FREEKB 4035476 GPS 041113,143504,4749.147,-12516.524,28,1.8,28,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 119.90 nil 0 0 0.00

Roll_motor 65 60 96.03 nil 0 0 0.00

VBD_pump_during_apogee 437 688 7344.28 nil 0 0 0.00

VBD_pump_during_surface 71 56 98.66 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 8359 5 1124.63

Iridium_during_xfer 161 128 504.88 PMAR 193 9 46.35

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.32

TT8 1457 11 164.45

LPSleep 4970 2 104.49

TT8_Active 550 11 62.12

TT8_Sampling 1547 38 575.22

TT8_CF8 258 49 122.20

TT8_Kalman 0 0 0.00

Analog_circuits 1582 15 242.65

GPS_charging 0 0 0.00

Compass 1119 7 80.52

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.11 -107.1 333 2319 1552 1380 0.0 0.0 0 70 0.00 0.00 -40.85 0.000 16386 0.000 0.000 333 2321 2539 2593 2486 0 0 0 0 0 0 28.83 28.83 28.83

74 -1.11 -107.1 333 2321 2595 2491 3.1 -1.9 7 125 9.70 2.00 -30.15 0.000 18692 0.232 0.060 2835 3580 3450 3495 3405 0 0 0 0 0 0 25.71 26.06 26.38

238 -1.11 -107.1 2833 3580 3500 3411 27.4 -22.7 34 250 0.00 1.85 0.00 0.000 1030 0.000 0.026 2838 2293 3456 3501 3411 0 0 0 0 0 0 28.83 26.25 28.83

558 -1.11 -107.1 2838 2291 3505 3411 85.0 -14.2 55 569 0.00 1.98 0.00 0.000 260 0.000 0.042 2831 3594 3458 3505 3411 0 0 0 0 0 0 28.83 26.33 28.83

798 -1.11 -107.1 2830 3594 3505 3413 119.4 -15.1 66 809 0.00 1.85 0.00 0.000 1030 0.000 0.026 2832 2288 3459 3505 3413 0 0 0 0 0 0 28.83 26.48 28.83

1117 -1.11 -107.1 2831 2287 3506 3413 165.6 -13.5 82 1128 0.00 1.98 0.00 0.000 260 0.000 0.042 2824 3598 3459 3506 3413 0 0 0 0 0 0 28.83 26.47 28.83

1298 -1.11 -107.1 2824 3598 3506 3413 189.6 -14.2 90 1309 0.00 1.83 0.00 0.000 1030 0.000 0.025 2824 2293 3459 3506 3413 0 0 0 0 0 0 28.83 26.58 28.83

1617 -1.11 -107.1 2824 2293 3506 3413 236.8 -14.9 106 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2293 3459 3506 3413 0 0 0 0 0 0 28.83 28.83 28.83

1918 -1.11 -107.1 2824 2293 3506 3413 279.1 -14.0 121 1929 0.00 1.92 0.00 0.000 260 0.000 0.042 2818 3584 3459 3506 3413 0 0 0 0 0 0 28.83 26.57 28.83

1961 -1.11 -107.1 2817 3584 3506 3413 283.3 -14.0 122 1974 0.00 1.80 0.00 0.000 1030 0.000 0.026 2818 2296 3459 3506 3413 0 0 0 0 0 0 28.83 26.66 28.83

2268 -1.11 -107.1 2817 2296 3506 3413 326.5 -13.6 138 2279 0.00 1.92 0.00 0.000 260 0.000 0.041 2810 3592 3460 3506 3414 0 0 0 0 0 0 28.83 26.59 28.83

2318 -1.11 -107.1 2810 3592 3506 3413 333.6 -14.0 140 2329 0.12 1.80 0.00 0.000 3078 0.181 0.026 2841 2301 3459 3506 3413 0 0 0 0 0 0 26.39 26.68 28.83

2648 -1.11 -107.1 2840 2301 3506 3413 374.9 -12.6 156 2658 0.00 1.92 0.00 0.000 260 0.000 0.044 2833 3596 3459 3506 3413 0 0 0 0 0 0 28.83 26.61 28.83

2758 -1.11 -107.1 2833 3596 3506 3413 389.3 -13.2 161 2769 0.00 1.85 0.00 0.000 1030 0.000 0.025 2838 2268 3460 3506 3415 0 0 0 0 0 0 28.83 26.71 28.83

3088 -1.11 -107.1 2838 2268 3506 3413 429.4 -11.9 177 3099 0.00 2.00 0.00 0.000 516 0.000 0.031 2838 907 3459 3506 3412 0 0 0 0 0 0 28.83 26.67 28.83

3158 -1.11 -107.1 2838 907 3505 3413 437.7 -11.8 180 3169 0.00 2.08 0.00 0.000 1030 0.000 0.031 2831 2307 3459 3505 3413 0 0 0 0 0 0 28.83 26.67 28.83

3487 -1.11 -107.1 2830 2307 3505 3412 478.5 -11.8 196 3498 0.00 1.88 0.00 0.000 260 0.000 0.044 2821 3583 3458 3505 3412 0 0 0 0 0 0 28.83 26.63 28.83

3558 -1.11 -107.1 2821 3582 3504 3412 487.3 -12.3 199 3569 0.00 1.80 0.00 0.000 1030 0.000 0.026 2824 2290 3458 3505 3412 0 0 0 0 0 0 28.83 26.73 28.83

3585 end dive: TARGET_DEPTH_EXCEEDED

state 3585 begin apogee

3592 -0.25 0.0 2825 2034 3504 3412 491.0 -12.5 200 3771 0.90 0.00 167.52 0.689 10246 0.141 0.000 3116 2028 3007 3099 2916 0 0 0 0 0 0 26.40 28.83 24.62

3773 end apogee: CONTROL_FINISHED_OK

state 3773 begin climb

3776 1.11 107.1 3116 2028 3095 2911 497.0 0.0 209 3932 1.25 2.25 137.95 0.672 10756 0.076 0.033 3565 640 2562 2665 2459 0 0 0 0 0 0 25.27 24.98 24.38

3997 1.11 107.1 3564 640 2654 2454 480.5 11.5 220 4008 0.00 2.20 0.00 0.000 1030 0.000 0.029 3565 2029 2553 2652 2454 0 0 0 0 0 0 28.83 25.48 28.83

4326 1.11 107.1 3564 2029 2646 2451 440.9 12.0 236 4337 0.00 2.12 0.00 0.000 260 0.000 0.041 3565 3433 2548 2646 2451 0 0 0 0 0 0 28.83 26.05 28.83

4376 1.11 107.1 3564 3432 2646 2450 434.4 12.8 238 4387 0.00 2.08 0.00 0.000 1030 0.000 0.024 3575 2018 2547 2646 2449 0 0 0 0 0 0 28.83 26.16 28.83

4705 1.11 107.1 3574 2018 2644 2449 393.4 12.1 254 4716 0.00 2.10 0.00 0.000 516 0.000 0.034 3584 637 2547 2645 2449 0 0 0 0 0 0 28.83 26.30 28.83

4800 1.11 107.1 2784 637 2588 2440 382.5 12.3 258 4811 0.00 2.12 0.00 0.000 1030 0.000 0.029 3584 2038 2546 2643 2449 0 0 0 0 0 0 28.83 26.37 28.83

5125 1.11 107.1 3585 2038 2642 2448 341.9 12.6 274 5136 0.00 2.08 0.00 0.000 260 0.000 0.040 3575 3431 2545 2642 2448 0 0 0 0 0 0 28.83 26.42 28.83

5199 1.11 107.1 3575 3431 2642 2447 332.4 13.2 277 5210 0.00 2.03 0.00 0.000 1030 0.000 0.026 3583 2024 2544 2641 2447 0 0 0 0 0 0 28.83 26.51 28.83

5523 1.11 107.1 3583 2024 2641 2447 290.7 12.9 293 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 3583 2024 2544 2641 2447 0 0 0 0 0 0 28.83 28.83 28.83

5823 1.11 107.1 3582 2024 2640 2446 253.2 12.4 308 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 3583 2024 2543 2640 2447 0 0 0 0 0 0 28.83 28.83 28.83

6123 1.11 107.1 3583 2024 2640 2446 216.5 11.9 323 6134 0.00 2.08 0.00 0.000 516 0.000 0.035 3593 644 2543 2640 2446 0 0 0 0 0 0 28.83 26.58 28.83

6156 1.11 107.1 3592 644 2640 2446 212.9 12.0 324 6168 0.15 2.10 0.00 0.000 5126 0.166 0.031 3555 2034 2543 2640 2446 0 0 0 0 0 0 26.36 26.60 28.83

6481 1.11 107.1 3554 2034 2640 2446 177.6 10.7 340 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2034 2543 2640 2446 0 0 0 0 0 0 28.83 28.83 28.83

6782 1.11 107.1 3554 2034 2640 2446 148.3 9.5 355 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2034 2543 2640 2446 0 0 0 0 0 0 28.83 28.83 28.83

7081 1.11 107.1 3555 2034 2640 2445 120.2 9.4 370 7092 0.00 2.15 0.00 0.000 516 0.000 0.034 3562 635 2542 2640 2445 0 0 0 0 0 0 28.83 26.63 28.83

7216 1.11 107.1 2784 635 2586 2437 106.8 10.0 376 7227 0.00 2.10 0.00 0.000 1030 0.000 0.030 3562 2034 2542 2640 2445 0 0 0 0 0 0 28.83 26.66 28.83

7541 1.16 121.4 3562 2034 2640 2445 79.4 7.3 392 7561 0.00 2.12 9.77 0.615 8708 0.000 0.031 3571 643 2511 2609 2413 0 0 0 0 0 0 28.83 26.54 25.82

7615 1.16 121.4 3570 643 2607 2412 73.2 8.7 395 7627 0.00 2.10 0.00 0.000 1030 0.000 0.030 3565 2028 2509 2607 2412 0 0 0 0 0 0 28.83 26.57 28.83

7940 1.42 209.4 3565 2027 2605 2412 53.3 3.6 411 8077 0.25 2.25 121.93 0.560 10500 0.073 0.041 3661 3425 2150 2258 2043 0 0 0 0 0 0 26.56 25.46 24.91

8309 1.42 209.4 3660 3425 2247 2031 8.6 15.1 452 8321 0.00 2.08 0.00 0.000 1030 0.000 0.025 3669 2020 2138 2247 2030 0 0 0 0 0 0 28.83 26.10 28.83

8336 end climb: SURFACE_DEPTH_REACHED

state 8336 begin surface coast

8365 end surface coast: CONTROL_FINISHED_OK

state 8365 begin surface

ID	108	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PULSE	4
MISSION	25	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
DIVE	229	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	75	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_TGT	990	SM_CC	375	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_ABORT	1030	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	VBD_MIN	448	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MAX	4001	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	C_VBD	3009	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	86
T_DIVE	410	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	430	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	20	DBDW	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-193793.44	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	AH0_24V	150	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	108	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	MINV_24V	22	SEABIRD_T_G	0.0042902208
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	SEABIRD_T_H	0.00062879291
T_WATCHDOG	10	PITCH_MIN	350	FG_AHR_10V	0	SEABIRD_T_I	2.3436274e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_24V	0	SEABIRD_T_J	2.4509632e-06
APOGEE_PITCH	-5	C_PITCH	3200	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8955164
MAX_BUOY	110	PITCH_DBAND	0.1	PRESSURE_YINT	-21.975828	SEABIRD_C_H	1.1345812
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_C_I	-0.0014690319
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.0002024868
SPEED_FACTOR	1	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	51925	PITCH_AD_RATE	150	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITPROFILE	1.0
KALMAN_USE	2	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0020999999	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	0	PM_NDIVE	14.0
HD_B	0.0116	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HD_C	9.4299997e-07	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	10
HEADING	-1	C_ROLL_CLIMB	2025	ALTIM_FREQUENCY	13

GPS1	041113,120700,4749.004,-12517.502,16,1.3,16,17.2	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.930,-12510.270
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041113,121223,4749.035,-12517.480,16,1.0,17,17.2	MHEAD_RNG_PITCHd_Wd	66.3,10441,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	490

FINISH	1.6,1.023374	_24V_AH	24.4,25.495
SM_CCo	8387,71.43,0.057,0,0,1479,375.06	_10V_AH	9.6,29.919
SM_GC	2.74,8.82,0.43,71.43,0.042,0.045,0.057,330,2297,1479,-8.89,-1.64,375.06,0,0,0,0,0,0,26.10,26.11,26.04	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12519.98,041113,090920	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	258736
HUMID	55.43	DATA_FILE_SIZE	16766,461
INTERNAL_PRESSURE	9.01402	CAP_FILE_SIZE	115543,0
TCM_TEMP	18.00	CFSIZE	260034560,223289344
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3864832	CURRENT	0.058,302.1,1
PM_FREEKB	4035476	GPS	041113,143504,4749.147,-12516.524,28,1.8,28,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	119.90	nil	0	0	0.00
Roll_motor	65	60	96.03	nil	0	0	0.00
VBD_pump_during_apogee	437	688	7344.28	nil	0	0	0.00
VBD_pump_during_surface	71	56	98.66	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	8359	5	1124.63
Iridium_during_xfer	161	128	504.88	PMAR	193	9	46.35
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.32
TT8	1457	11	164.45
LPSleep	4970	2	104.49
TT8_Active	550	11	62.12
TT8_Sampling	1547	38	575.22
TT8_CF8	258	49	122.20
TT8_Kalman	0	0	0.00
Analog_circuits	1582	15	242.65
GPS_charging	0	0	0.00
Compass	1119	7	80.52
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.11	-107.1	333	2319	1552	1380	0.0	0.0	0	70	0.00	0.00	-40.85	0.000	16386	0.000	0.000	333	2321	2539	2593	2486	0	0	0	0	0	0	28.83	28.83	28.83
74	-1.11	-107.1	333	2321	2595	2491	3.1	-1.9	7	125	9.70	2.00	-30.15	0.000	18692	0.232	0.060	2835	3580	3450	3495	3405	0	0	0	0	0	0	25.71	26.06	26.38
238	-1.11	-107.1	2833	3580	3500	3411	27.4	-22.7	34	250	0.00	1.85	0.00	0.000	1030	0.000	0.026	2838	2293	3456	3501	3411	0	0	0	0	0	0	28.83	26.25	28.83
558	-1.11	-107.1	2838	2291	3505	3411	85.0	-14.2	55	569	0.00	1.98	0.00	0.000	260	0.000	0.042	2831	3594	3458	3505	3411	0	0	0	0	0	0	28.83	26.33	28.83
798	-1.11	-107.1	2830	3594	3505	3413	119.4	-15.1	66	809	0.00	1.85	0.00	0.000	1030	0.000	0.026	2832	2288	3459	3505	3413	0	0	0	0	0	0	28.83	26.48	28.83
1117	-1.11	-107.1	2831	2287	3506	3413	165.6	-13.5	82	1128	0.00	1.98	0.00	0.000	260	0.000	0.042	2824	3598	3459	3506	3413	0	0	0	0	0	0	28.83	26.47	28.83
1298	-1.11	-107.1	2824	3598	3506	3413	189.6	-14.2	90	1309	0.00	1.83	0.00	0.000	1030	0.000	0.025	2824	2293	3459	3506	3413	0	0	0	0	0	0	28.83	26.58	28.83
1617	-1.11	-107.1	2824	2293	3506	3413	236.8	-14.9	106	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2293	3459	3506	3413	0	0	0	0	0	0	28.83	28.83	28.83
1918	-1.11	-107.1	2824	2293	3506	3413	279.1	-14.0	121	1929	0.00	1.92	0.00	0.000	260	0.000	0.042	2818	3584	3459	3506	3413	0	0	0	0	0	0	28.83	26.57	28.83
1961	-1.11	-107.1	2817	3584	3506	3413	283.3	-14.0	122	1974	0.00	1.80	0.00	0.000	1030	0.000	0.026	2818	2296	3459	3506	3413	0	0	0	0	0	0	28.83	26.66	28.83
2268	-1.11	-107.1	2817	2296	3506	3413	326.5	-13.6	138	2279	0.00	1.92	0.00	0.000	260	0.000	0.041	2810	3592	3460	3506	3414	0	0	0	0	0	0	28.83	26.59	28.83
2318	-1.11	-107.1	2810	3592	3506	3413	333.6	-14.0	140	2329	0.12	1.80	0.00	0.000	3078	0.181	0.026	2841	2301	3459	3506	3413	0	0	0	0	0	0	26.39	26.68	28.83
2648	-1.11	-107.1	2840	2301	3506	3413	374.9	-12.6	156	2658	0.00	1.92	0.00	0.000	260	0.000	0.044	2833	3596	3459	3506	3413	0	0	0	0	0	0	28.83	26.61	28.83
2758	-1.11	-107.1	2833	3596	3506	3413	389.3	-13.2	161	2769	0.00	1.85	0.00	0.000	1030	0.000	0.025	2838	2268	3460	3506	3415	0	0	0	0	0	0	28.83	26.71	28.83
3088	-1.11	-107.1	2838	2268	3506	3413	429.4	-11.9	177	3099	0.00	2.00	0.00	0.000	516	0.000	0.031	2838	907	3459	3506	3412	0	0	0	0	0	0	28.83	26.67	28.83
3158	-1.11	-107.1	2838	907	3505	3413	437.7	-11.8	180	3169	0.00	2.08	0.00	0.000	1030	0.000	0.031	2831	2307	3459	3505	3413	0	0	0	0	0	0	28.83	26.67	28.83
3487	-1.11	-107.1	2830	2307	3505	3412	478.5	-11.8	196	3498	0.00	1.88	0.00	0.000	260	0.000	0.044	2821	3583	3458	3505	3412	0	0	0	0	0	0	28.83	26.63	28.83
3558	-1.11	-107.1	2821	3582	3504	3412	487.3	-12.3	199	3569	0.00	1.80	0.00	0.000	1030	0.000	0.026	2824	2290	3458	3505	3412	0	0	0	0	0	0	28.83	26.73	28.83
3585	end dive: TARGET_DEPTH_EXCEEDED
state	3585	begin apogee
3592	-0.25	0.0	2825	2034	3504	3412	491.0	-12.5	200	3771	0.90	0.00	167.52	0.689	10246	0.141	0.000	3116	2028	3007	3099	2916	0	0	0	0	0	0	26.40	28.83	24.62
3773	end apogee: CONTROL_FINISHED_OK
state	3773	begin climb
3776	1.11	107.1	3116	2028	3095	2911	497.0	0.0	209	3932	1.25	2.25	137.95	0.672	10756	0.076	0.033	3565	640	2562	2665	2459	0	0	0	0	0	0	25.27	24.98	24.38
3997	1.11	107.1	3564	640	2654	2454	480.5	11.5	220	4008	0.00	2.20	0.00	0.000	1030	0.000	0.029	3565	2029	2553	2652	2454	0	0	0	0	0	0	28.83	25.48	28.83
4326	1.11	107.1	3564	2029	2646	2451	440.9	12.0	236	4337	0.00	2.12	0.00	0.000	260	0.000	0.041	3565	3433	2548	2646	2451	0	0	0	0	0	0	28.83	26.05	28.83
4376	1.11	107.1	3564	3432	2646	2450	434.4	12.8	238	4387	0.00	2.08	0.00	0.000	1030	0.000	0.024	3575	2018	2547	2646	2449	0	0	0	0	0	0	28.83	26.16	28.83
4705	1.11	107.1	3574	2018	2644	2449	393.4	12.1	254	4716	0.00	2.10	0.00	0.000	516	0.000	0.034	3584	637	2547	2645	2449	0	0	0	0	0	0	28.83	26.30	28.83
4800	1.11	107.1	2784	637	2588	2440	382.5	12.3	258	4811	0.00	2.12	0.00	0.000	1030	0.000	0.029	3584	2038	2546	2643	2449	0	0	0	0	0	0	28.83	26.37	28.83
5125	1.11	107.1	3585	2038	2642	2448	341.9	12.6	274	5136	0.00	2.08	0.00	0.000	260	0.000	0.040	3575	3431	2545	2642	2448	0	0	0	0	0	0	28.83	26.42	28.83
5199	1.11	107.1	3575	3431	2642	2447	332.4	13.2	277	5210	0.00	2.03	0.00	0.000	1030	0.000	0.026	3583	2024	2544	2641	2447	0	0	0	0	0	0	28.83	26.51	28.83
5523	1.11	107.1	3583	2024	2641	2447	290.7	12.9	293	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	3583	2024	2544	2641	2447	0	0	0	0	0	0	28.83	28.83	28.83
5823	1.11	107.1	3582	2024	2640	2446	253.2	12.4	308	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	3583	2024	2543	2640	2447	0	0	0	0	0	0	28.83	28.83	28.83
6123	1.11	107.1	3583	2024	2640	2446	216.5	11.9	323	6134	0.00	2.08	0.00	0.000	516	0.000	0.035	3593	644	2543	2640	2446	0	0	0	0	0	0	28.83	26.58	28.83
6156	1.11	107.1	3592	644	2640	2446	212.9	12.0	324	6168	0.15	2.10	0.00	0.000	5126	0.166	0.031	3555	2034	2543	2640	2446	0	0	0	0	0	0	26.36	26.60	28.83
6481	1.11	107.1	3554	2034	2640	2446	177.6	10.7	340	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	3555	2034	2543	2640	2446	0	0	0	0	0	0	28.83	28.83	28.83
6782	1.11	107.1	3554	2034	2640	2446	148.3	9.5	355	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	3555	2034	2543	2640	2446	0	0	0	0	0	0	28.83	28.83	28.83
7081	1.11	107.1	3555	2034	2640	2445	120.2	9.4	370	7092	0.00	2.15	0.00	0.000	516	0.000	0.034	3562	635	2542	2640	2445	0	0	0	0	0	0	28.83	26.63	28.83
7216	1.11	107.1	2784	635	2586	2437	106.8	10.0	376	7227	0.00	2.10	0.00	0.000	1030	0.000	0.030	3562	2034	2542	2640	2445	0	0	0	0	0	0	28.83	26.66	28.83
7541	1.16	121.4	3562	2034	2640	2445	79.4	7.3	392	7561	0.00	2.12	9.77	0.615	8708	0.000	0.031	3571	643	2511	2609	2413	0	0	0	0	0	0	28.83	26.54	25.82
7615	1.16	121.4	3570	643	2607	2412	73.2	8.7	395	7627	0.00	2.10	0.00	0.000	1030	0.000	0.030	3565	2028	2509	2607	2412	0	0	0	0	0	0	28.83	26.57	28.83
7940	1.42	209.4	3565	2027	2605	2412	53.3	3.6	411	8077	0.25	2.25	121.93	0.560	10500	0.073	0.041	3661	3425	2150	2258	2043	0	0	0	0	0	0	26.56	25.46	24.91
8309	1.42	209.4	3660	3425	2247	2031	8.6	15.1	452	8321	0.00	2.08	0.00	0.000	1030	0.000	0.025	3669	2020	2138	2247	2030	0	0	0	0	0	0	28.83	26.10	28.83
8336	end climb: SURFACE_DEPTH_REACHED
state	8336	begin surface coast
8365	end surface coast: CONTROL_FINISHED_OK
state	8365	begin surface