Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 228 * 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 228 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 43 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 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 -1588037.8 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 -1588037.8

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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 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 228 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 051112,112959,4749.515,-12514.992,35,1.0,41,18.7 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 2.17 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.7 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 051112,113543,4749.514,-12515.038,15,1.7,15,18.7 MHEAD_RNG_PITCHd_Wd 55.0,7425,-13.4,-7.333,-18.42

SPEED_LIMITS 0.127,0.220 D_GRID 450

Post-dive calculations and measurements:

FINISH 1.3,1.000481 _10V_AH 10.2,27.256

SM_CCo 10029,0.00,0.000,0,0,896,465.58 FG_AHR_24Vo 0.000

SM_GC 2.34,8.32,0.17,0.00,0.026,0.076,0.000,116,2167,896,-9.46,1.10,465.58,0,0,0,0,0,0,25.84,25.81,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12515.52,051112,080830 MEM 296776

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 46795,813

HUMID 44.48 CAP_FILE_SIZE 98476,0

INTERNAL_PRESSURE 9.0597 CFSIZE 260165632,238768128

TCM_TEMP 15.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.112,302.3,1

_24V_AH 23.7,32.619 GPS 051112,142436,4750.385,-12513.409,36,0.8,37,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 109.52 SBE_CT 555 24 315.69

Roll_motor 84 78 158.31 SBE_O2 520 19 234.50

VBD_pump_during_apogee 502 840 10006.55 WL_BBFL2VMT 472 105 1176.52

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 26 103 63.95 nil 0 0 0.00

Iridium_during_connect 42 160 162.20 nil 0 0 0.00

Iridium_during_xfer 155 223 823.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.41

TT8 2002 19 404.33

LPSleep 5792 2 129.39

TT8_Active 502 19 101.45

TT8_Sampling 1849 39 750.71

TT8_CF8 229 45 107.05

TT8_Kalman 0 0 0.00

Analog_circuits 1361 12 166.65

GPS_charging 0 0 0.00

Compass 1612 15 246.69

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.48 -146.0 0.0 0.0 0 76 0.00 0.00 -57.20 0.000 2 0.000 0.000 106 2175 2795 0 0 0 0 0 0 28.83 28.83 28.83

80 -0.48 -146.0 3.3 -3.0 9 114 11.35 2.22 -12.32 0.000 4 0.220 0.064 3032 777 3393 0 0 0 0 0 0 25.10 25.64 26.10

259 -0.48 -146.0 40.0 -14.7 41 266 0.00 2.17 0.00 0.000 6 0.000 0.050 3023 2176 3396 0 0 0 0 0 0 28.83 25.68 28.83

581 -0.48 -146.0 85.7 -12.2 102 588 0.00 2.25 0.00 0.000 4 0.000 0.060 3013 3593 3397 0 0 0 0 0 0 28.83 25.72 28.83

616 -0.48 -146.0 90.2 -13.0 108 624 0.00 2.22 0.00 0.000 6 0.000 0.043 3013 2165 3398 0 0 0 0 0 0 28.83 25.86 28.83

937 -0.48 -146.0 129.5 -11.9 159 943 0.00 2.12 0.00 0.000 4 0.000 0.050 3012 774 3398 0 0 0 0 0 0 28.83 25.84 28.83

998 -0.48 -146.0 136.7 -12.0 163 1004 0.10 2.15 0.00 0.000 6 0.119 0.050 3039 2178 3398 0 0 0 0 0 0 25.67 25.86 28.83

1314 -0.48 -146.0 169.0 -10.1 184 1319 0.00 2.15 0.00 0.000 4 0.000 0.050 3040 773 3398 0 0 0 0 0 0 28.83 25.88 28.83

1343 -0.48 -146.0 172.0 -10.0 186 1348 0.00 2.17 0.00 0.000 6 0.000 0.050 3032 2184 3398 0 0 0 0 0 0 28.83 25.89 28.83

1668 -0.48 -146.0 204.8 -10.1 207 1673 0.00 2.20 0.00 0.000 4 0.000 0.062 3021 3591 3398 0 0 0 0 0 0 28.83 25.84 28.83

1736 -0.48 -146.0 211.2 -10.5 210 1740 0.00 2.15 0.00 0.000 6 0.000 0.044 3021 2178 3398 0 0 0 0 0 0 28.83 26.00 28.83

2045 -0.48 -146.0 244.0 -10.5 225 2046 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2173 3398 0 0 0 0 0 0 28.83 28.83 28.83

2343 -0.48 -146.0 275.2 -10.2 240 2349 0.00 2.28 0.00 0.000 4 0.000 0.063 3011 3591 3397 0 0 0 0 0 0 28.83 25.86 28.83

2403 -0.48 -146.0 281.5 -10.3 243 2408 0.00 2.17 0.00 0.000 6 0.000 0.044 3011 2164 3397 0 0 0 0 0 0 28.83 26.03 28.83

2723 -0.48 -146.0 316.3 -11.0 259 2728 0.00 2.15 0.00 0.000 4 0.000 0.051 3011 762 3397 0 0 0 0 0 0 28.83 25.94 28.83

2771 -0.48 -146.0 321.1 -11.5 261 2776 0.15 2.17 0.00 0.000 6 0.137 0.050 3045 2178 3397 0 0 0 0 0 0 25.80 25.95 28.83

3078 -0.48 -146.0 346.9 -7.6 276 3083 0.00 2.22 0.00 0.000 4 0.000 0.063 3036 3587 3397 0 0 0 0 0 0 28.83 25.86 28.83

3161 -0.48 -146.0 353.9 -8.8 280 3165 0.00 2.15 0.00 0.000 6 0.000 0.044 3036 2171 3397 0 0 0 0 0 0 28.83 26.05 28.83

3473 -0.48 -146.0 382.5 -9.1 296 3474 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2168 3396 0 0 0 0 0 0 28.83 28.83 28.83

3783 -0.48 -146.0 407.8 -7.5 310 3789 0.00 2.25 0.00 0.000 4 0.000 0.063 3026 3582 3396 0 0 0 0 0 0 28.83 25.86 28.83

3814 -0.48 -146.0 410.0 -7.4 311 3819 0.00 2.15 0.00 0.000 6 0.000 0.045 3026 2170 3396 0 0 0 0 0 0 28.83 26.05 28.83

4143 -0.48 -146.0 437.0 -8.6 322 4144 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2168 3395 0 0 0 0 0 0 28.83 28.83 28.83

4291 end dive: TARGET_DEPTH_EXCEEDED

state 4291 begin apogee

4298 -0.22 0.0 451.5 -9.7 327 4422 0.28 0.00 120.05 0.841 6 0.115 0.000 3119 2315 2793 0 0 0 0 0 0 25.85 28.83 24.10

4425 end apogee: CONTROL_FINISHED_OK

state 4425 begin climb

4428 0.48 146.0 457.6 0.0 331 4563 0.65 2.45 123.62 0.816 4 0.087 0.063 3341 3702 2197 0 0 0 0 0 0 24.83 24.39 23.75

4600 0.51 219.7 452.4 4.5 337 4668 0.00 2.28 62.00 0.806 6 0.000 0.046 3351 2303 1897 0 0 0 0 0 0 28.83 24.75 23.69

4981 0.51 219.7 421.8 7.6 350 4987 0.00 2.25 0.00 0.000 4 0.000 0.054 3361 900 1888 0 0 0 0 0 0 28.83 25.28 28.83

5025 0.51 219.7 419.5 7.7 351 5029 0.00 2.22 0.00 0.000 6 0.000 0.052 3361 2295 1888 0 0 0 0 0 0 28.83 25.34 28.83

5348 0.51 219.7 389.1 9.4 364 5350 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2295 1887 0 0 0 0 0 0 28.83 28.83 28.83

5647 0.51 219.7 361.2 9.2 379 5648 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2295 1887 0 0 0 0 0 0 28.83 28.83 28.83

5947 0.51 219.7 332.6 8.8 394 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2295 1885 0 0 0 0 0 0 28.83 28.83 28.83

6248 0.51 219.7 306.4 8.9 409 6249 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2295 1885 0 0 0 0 0 0 28.83 28.83 28.83

6547 0.51 219.7 279.6 8.6 424 6553 0.00 2.30 0.00 0.000 4 0.000 0.066 3361 3717 1884 0 0 0 0 0 0 28.83 25.79 28.83

6568 0.51 219.7 277.9 8.5 425 6573 0.00 2.17 0.00 0.000 6 0.000 0.048 3370 2306 1884 0 0 0 0 0 0 28.83 25.93 28.83

6887 0.51 219.7 249.6 8.9 441 6889 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2300 1884 0 0 0 0 0 0 28.83 28.83 28.83

7187 0.51 219.7 223.0 8.8 456 7188 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2300 1884 0 0 0 0 0 0 28.83 28.83 28.83

7492 0.51 219.7 195.4 8.8 472 7498 0.00 2.25 0.00 0.000 4 0.000 0.066 3370 3711 1884 0 0 0 0 0 0 28.83 25.84 28.83

7531 0.51 219.7 192.4 9.5 474 7538 0.00 2.25 0.00 0.000 6 0.000 0.048 3378 2293 1883 0 0 0 0 0 0 28.83 25.98 28.83

7839 0.51 219.7 163.9 8.8 495 7844 0.00 2.15 0.00 0.000 4 0.000 0.056 3389 892 1883 0 0 0 0 0 0 28.83 25.90 28.83

7869 0.51 219.7 161.2 8.8 497 7876 0.12 2.22 0.00 0.000 6 0.138 0.054 3355 2308 1883 0 0 0 0 0 0 25.79 25.91 28.83

8186 0.51 219.7 137.7 7.4 518 8191 0.00 2.25 0.00 0.000 4 0.000 0.065 3354 3708 1883 0 0 0 0 0 0 28.83 25.85 28.83

8214 0.51 219.7 135.4 7.5 520 8220 0.00 2.20 0.00 0.000 6 0.000 0.047 3361 2285 1883 0 0 0 0 0 0 28.83 26.00 28.83

8528 0.51 240.3 111.6 6.5 554 8553 0.00 2.22 16.25 0.617 4 0.000 0.054 3369 889 1813 0 0 0 0 0 0 28.83 25.97 25.22

8573 0.52 264.0 108.4 6.4 561 8604 0.00 2.20 21.10 0.623 6 0.000 0.052 3370 2305 1715 0 0 0 0 0 0 28.83 25.92 25.06

8916 0.55 317.0 86.5 5.3 626 8965 0.00 2.28 42.28 0.614 4 0.000 0.052 3374 884 1501 0 0 0 0 0 0 28.83 25.43 24.84

8984 0.57 369.6 82.7 5.3 637 9033 0.00 2.28 42.92 0.596 6 0.000 0.050 3375 2309 1286 0 0 0 0 0 0 28.83 25.46 24.56

9351 0.58 404.9 62.2 6.0 705 9389 0.00 2.33 28.20 0.585 4 0.000 0.054 3375 891 1140 0 0 0 0 0 0 28.83 25.38 24.74

9413 0.60 462.6 58.6 5.1 715 9464 0.00 2.22 45.78 0.576 6 0.000 0.050 3375 2300 907 0 0 0 0 0 0 28.83 25.43 24.52

9783 0.60 462.6 19.2 10.9 783 9790 0.00 2.28 0.00 0.000 4 0.000 0.063 3375 3709 899 0 0 0 0 0 0 28.83 25.52 28.83

9851 0.60 462.6 11.4 11.6 795 9858 0.00 2.20 0.00 0.000 6 0.000 0.045 3375 2292 898 0 0 0 0 0 0 28.83 25.68 28.83

9916 end climb: SURFACE_DEPTH_REACHED

state 9916 begin surface coast

9949 end surface coast: CONTROL_FINISHED_OK

state 9950 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	228	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	43	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	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	-1588037.8	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	051112,112959,4749.515,-12514.992,35,1.0,41,18.7	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	2.17	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.7	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	051112,113543,4749.514,-12515.038,15,1.7,15,18.7	MHEAD_RNG_PITCHd_Wd	55.0,7425,-13.4,-7.333,-18.42
SPEED_LIMITS	0.127,0.220	D_GRID	450

FINISH	1.3,1.000481	_10V_AH	10.2,27.256
SM_CCo	10029,0.00,0.000,0,0,896,465.58	FG_AHR_24Vo	0.000
SM_GC	2.34,8.32,0.17,0.00,0.026,0.076,0.000,116,2167,896,-9.46,1.10,465.58,0,0,0,0,0,0,25.84,25.81,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12515.52,051112,080830	MEM	296776
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	46795,813
HUMID	44.48	CAP_FILE_SIZE	98476,0
INTERNAL_PRESSURE	9.0597	CFSIZE	260165632,238768128
TCM_TEMP	15.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.112,302.3,1
_24V_AH	23.7,32.619	GPS	051112,142436,4750.385,-12513.409,36,0.8,37,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	109.52	SBE_CT	555	24	315.69
Roll_motor	84	78	158.31	SBE_O2	520	19	234.50
VBD_pump_during_apogee	502	840	10006.55	WL_BBFL2VMT	472	105	1176.52
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	26	103	63.95	nil	0	0	0.00
Iridium_during_connect	42	160	162.20	nil	0	0	0.00
Iridium_during_xfer	155	223	823.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.41
TT8	2002	19	404.33
LPSleep	5792	2	129.39
TT8_Active	502	19	101.45
TT8_Sampling	1849	39	750.71
TT8_CF8	229	45	107.05
TT8_Kalman	0	0	0.00
Analog_circuits	1361	12	166.65
GPS_charging	0	0	0.00
Compass	1612	15	246.69
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.48	-146.0	0.0	0.0	0	76	0.00	0.00	-57.20	0.000	2	0.000	0.000	106	2175	2795	0	0	0	0	0	0	28.83	28.83	28.83
80	-0.48	-146.0	3.3	-3.0	9	114	11.35	2.22	-12.32	0.000	4	0.220	0.064	3032	777	3393	0	0	0	0	0	0	25.10	25.64	26.10
259	-0.48	-146.0	40.0	-14.7	41	266	0.00	2.17	0.00	0.000	6	0.000	0.050	3023	2176	3396	0	0	0	0	0	0	28.83	25.68	28.83
581	-0.48	-146.0	85.7	-12.2	102	588	0.00	2.25	0.00	0.000	4	0.000	0.060	3013	3593	3397	0	0	0	0	0	0	28.83	25.72	28.83
616	-0.48	-146.0	90.2	-13.0	108	624	0.00	2.22	0.00	0.000	6	0.000	0.043	3013	2165	3398	0	0	0	0	0	0	28.83	25.86	28.83
937	-0.48	-146.0	129.5	-11.9	159	943	0.00	2.12	0.00	0.000	4	0.000	0.050	3012	774	3398	0	0	0	0	0	0	28.83	25.84	28.83
998	-0.48	-146.0	136.7	-12.0	163	1004	0.10	2.15	0.00	0.000	6	0.119	0.050	3039	2178	3398	0	0	0	0	0	0	25.67	25.86	28.83
1314	-0.48	-146.0	169.0	-10.1	184	1319	0.00	2.15	0.00	0.000	4	0.000	0.050	3040	773	3398	0	0	0	0	0	0	28.83	25.88	28.83
1343	-0.48	-146.0	172.0	-10.0	186	1348	0.00	2.17	0.00	0.000	6	0.000	0.050	3032	2184	3398	0	0	0	0	0	0	28.83	25.89	28.83
1668	-0.48	-146.0	204.8	-10.1	207	1673	0.00	2.20	0.00	0.000	4	0.000	0.062	3021	3591	3398	0	0	0	0	0	0	28.83	25.84	28.83
1736	-0.48	-146.0	211.2	-10.5	210	1740	0.00	2.15	0.00	0.000	6	0.000	0.044	3021	2178	3398	0	0	0	0	0	0	28.83	26.00	28.83
2045	-0.48	-146.0	244.0	-10.5	225	2046	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2173	3398	0	0	0	0	0	0	28.83	28.83	28.83
2343	-0.48	-146.0	275.2	-10.2	240	2349	0.00	2.28	0.00	0.000	4	0.000	0.063	3011	3591	3397	0	0	0	0	0	0	28.83	25.86	28.83
2403	-0.48	-146.0	281.5	-10.3	243	2408	0.00	2.17	0.00	0.000	6	0.000	0.044	3011	2164	3397	0	0	0	0	0	0	28.83	26.03	28.83
2723	-0.48	-146.0	316.3	-11.0	259	2728	0.00	2.15	0.00	0.000	4	0.000	0.051	3011	762	3397	0	0	0	0	0	0	28.83	25.94	28.83
2771	-0.48	-146.0	321.1	-11.5	261	2776	0.15	2.17	0.00	0.000	6	0.137	0.050	3045	2178	3397	0	0	0	0	0	0	25.80	25.95	28.83
3078	-0.48	-146.0	346.9	-7.6	276	3083	0.00	2.22	0.00	0.000	4	0.000	0.063	3036	3587	3397	0	0	0	0	0	0	28.83	25.86	28.83
3161	-0.48	-146.0	353.9	-8.8	280	3165	0.00	2.15	0.00	0.000	6	0.000	0.044	3036	2171	3397	0	0	0	0	0	0	28.83	26.05	28.83
3473	-0.48	-146.0	382.5	-9.1	296	3474	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2168	3396	0	0	0	0	0	0	28.83	28.83	28.83
3783	-0.48	-146.0	407.8	-7.5	310	3789	0.00	2.25	0.00	0.000	4	0.000	0.063	3026	3582	3396	0	0	0	0	0	0	28.83	25.86	28.83
3814	-0.48	-146.0	410.0	-7.4	311	3819	0.00	2.15	0.00	0.000	6	0.000	0.045	3026	2170	3396	0	0	0	0	0	0	28.83	26.05	28.83
4143	-0.48	-146.0	437.0	-8.6	322	4144	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2168	3395	0	0	0	0	0	0	28.83	28.83	28.83
4291	end dive: TARGET_DEPTH_EXCEEDED
state	4291	begin apogee
4298	-0.22	0.0	451.5	-9.7	327	4422	0.28	0.00	120.05	0.841	6	0.115	0.000	3119	2315	2793	0	0	0	0	0	0	25.85	28.83	24.10
4425	end apogee: CONTROL_FINISHED_OK
state	4425	begin climb
4428	0.48	146.0	457.6	0.0	331	4563	0.65	2.45	123.62	0.816	4	0.087	0.063	3341	3702	2197	0	0	0	0	0	0	24.83	24.39	23.75
4600	0.51	219.7	452.4	4.5	337	4668	0.00	2.28	62.00	0.806	6	0.000	0.046	3351	2303	1897	0	0	0	0	0	0	28.83	24.75	23.69
4981	0.51	219.7	421.8	7.6	350	4987	0.00	2.25	0.00	0.000	4	0.000	0.054	3361	900	1888	0	0	0	0	0	0	28.83	25.28	28.83
5025	0.51	219.7	419.5	7.7	351	5029	0.00	2.22	0.00	0.000	6	0.000	0.052	3361	2295	1888	0	0	0	0	0	0	28.83	25.34	28.83
5348	0.51	219.7	389.1	9.4	364	5350	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2295	1887	0	0	0	0	0	0	28.83	28.83	28.83
5647	0.51	219.7	361.2	9.2	379	5648	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2295	1887	0	0	0	0	0	0	28.83	28.83	28.83
5947	0.51	219.7	332.6	8.8	394	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2295	1885	0	0	0	0	0	0	28.83	28.83	28.83
6248	0.51	219.7	306.4	8.9	409	6249	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2295	1885	0	0	0	0	0	0	28.83	28.83	28.83
6547	0.51	219.7	279.6	8.6	424	6553	0.00	2.30	0.00	0.000	4	0.000	0.066	3361	3717	1884	0	0	0	0	0	0	28.83	25.79	28.83
6568	0.51	219.7	277.9	8.5	425	6573	0.00	2.17	0.00	0.000	6	0.000	0.048	3370	2306	1884	0	0	0	0	0	0	28.83	25.93	28.83
6887	0.51	219.7	249.6	8.9	441	6889	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2300	1884	0	0	0	0	0	0	28.83	28.83	28.83
7187	0.51	219.7	223.0	8.8	456	7188	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2300	1884	0	0	0	0	0	0	28.83	28.83	28.83
7492	0.51	219.7	195.4	8.8	472	7498	0.00	2.25	0.00	0.000	4	0.000	0.066	3370	3711	1884	0	0	0	0	0	0	28.83	25.84	28.83
7531	0.51	219.7	192.4	9.5	474	7538	0.00	2.25	0.00	0.000	6	0.000	0.048	3378	2293	1883	0	0	0	0	0	0	28.83	25.98	28.83
7839	0.51	219.7	163.9	8.8	495	7844	0.00	2.15	0.00	0.000	4	0.000	0.056	3389	892	1883	0	0	0	0	0	0	28.83	25.90	28.83
7869	0.51	219.7	161.2	8.8	497	7876	0.12	2.22	0.00	0.000	6	0.138	0.054	3355	2308	1883	0	0	0	0	0	0	25.79	25.91	28.83
8186	0.51	219.7	137.7	7.4	518	8191	0.00	2.25	0.00	0.000	4	0.000	0.065	3354	3708	1883	0	0	0	0	0	0	28.83	25.85	28.83
8214	0.51	219.7	135.4	7.5	520	8220	0.00	2.20	0.00	0.000	6	0.000	0.047	3361	2285	1883	0	0	0	0	0	0	28.83	26.00	28.83
8528	0.51	240.3	111.6	6.5	554	8553	0.00	2.22	16.25	0.617	4	0.000	0.054	3369	889	1813	0	0	0	0	0	0	28.83	25.97	25.22
8573	0.52	264.0	108.4	6.4	561	8604	0.00	2.20	21.10	0.623	6	0.000	0.052	3370	2305	1715	0	0	0	0	0	0	28.83	25.92	25.06
8916	0.55	317.0	86.5	5.3	626	8965	0.00	2.28	42.28	0.614	4	0.000	0.052	3374	884	1501	0	0	0	0	0	0	28.83	25.43	24.84
8984	0.57	369.6	82.7	5.3	637	9033	0.00	2.28	42.92	0.596	6	0.000	0.050	3375	2309	1286	0	0	0	0	0	0	28.83	25.46	24.56
9351	0.58	404.9	62.2	6.0	705	9389	0.00	2.33	28.20	0.585	4	0.000	0.054	3375	891	1140	0	0	0	0	0	0	28.83	25.38	24.74
9413	0.60	462.6	58.6	5.1	715	9464	0.00	2.22	45.78	0.576	6	0.000	0.050	3375	2300	907	0	0	0	0	0	0	28.83	25.43	24.52
9783	0.60	462.6	19.2	10.9	783	9790	0.00	2.28	0.00	0.000	4	0.000	0.063	3375	3709	899	0	0	0	0	0	0	28.83	25.52	28.83
9851	0.60	462.6	11.4	11.6	795	9858	0.00	2.20	0.00	0.000	6	0.000	0.045	3375	2292	898	0	0	0	0	0	0	28.83	25.68	28.83
9916	end climb: SURFACE_DEPTH_REACHED
state	9916	begin surface coast
9949	end surface coast: CONTROL_FINISHED_OK
state	9950	begin surface