Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 248 * 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 248 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 80 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 53 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 3 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 -193817.19 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 -193817.19

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 80 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 53 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 248 N_FILEKB 8 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 3

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 051113,215404,4749.411,-12518.526,32,0.9,32,17.2 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051113,220017,4749.475,-12518.491,17,0.9,17,17.2 MHEAD_RNG_PITCHd_Wd 182.3,157587,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 519

Post-dive calculations and measurements:

FINISH 1.7,1.003490 _24V_AH 24.4,26.857

SM_CCo 8704,84.20,0.057,0,0,1479,375.06 _10V_AH 9.6,30.715

SM_GC 2.64,8.57,0.43,84.20,0.031,0.044,0.057,331,2298,1479,-8.89,-1.67,375.06,0,0,0,0,0,0,26.17,26.21,26.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12518.46,051113,191958 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 258744

HUMID 56.18 DATA_FILE_SIZE 16800,487

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 114215,0

TCM_TEMP 18.30 CFSIZE 260034560,222412800

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

SC_FREEKB 3858752 CURRENT 0.043,302.7,1

PM_FREEKB 4021364 GPS 061113,002819,4748.739,-12519.297,19,1.9,19,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 230 116.58 nil 0 0 0.00

Roll_motor 53 59 77.35 nil 0 0 0.00

VBD_pump_during_apogee 359 769 6750.69 nil 0 0 0.00

VBD_pump_during_surface 84 56 116.30 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 8683 5 1177.12

Iridium_during_xfer 212 120 621.79 PMAR 209 9 50.48

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.33

TT8 1446 11 163.20

LPSleep 5405 2 113.65

TT8_Active 484 11 54.64

TT8_Sampling 1576 38 585.70

TT8_CF8 254 49 120.23

TT8_Kalman 0 0 0.00

Analog_circuits 1557 15 238.83

GPS_charging 0 0 0.00

Compass 1084 7 77.99

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 -107.1 334 2312 1548 1371 0.0 0.0 0 76 0.00 0.00 -46.83 0.000 16386 0.000 0.000 334 2315 2693 2729 2658 0 0 0 0 0 0 28.83 28.83 28.83

81 -1.11 -107.1 334 2318 2736 2660 3.1 -1.6 8 131 9.62 1.98 -24.05 0.000 18692 0.230 0.060 2828 3576 3450 3495 3405 0 0 0 0 0 0 25.71 26.10 26.41

355 -1.11 -107.1 1856 3575 3491 3407 50.2 -19.9 46 367 0.00 1.83 0.00 0.000 1030 0.000 0.025 2835 2287 3456 3502 3410 0 0 0 0 0 0 28.83 26.35 28.83

663 -1.11 -107.1 2835 2287 3505 3411 93.3 -13.6 62 674 0.00 1.95 0.00 0.000 260 0.000 0.042 2828 3591 3458 3505 3412 0 0 0 0 0 0 28.83 26.39 28.83

777 -1.11 -107.1 2827 3591 3505 3412 110.7 -15.8 67 788 0.00 1.83 0.00 0.000 1030 0.000 0.026 2833 2290 3459 3505 3413 0 0 0 0 0 0 28.83 26.51 28.83

1101 -1.11 -107.1 2833 2291 3507 3413 152.5 -12.1 83 1111 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2290 3460 3507 3413 0 0 0 0 0 0 28.83 28.83 28.83

1402 -1.11 -107.1 2833 2290 3507 3413 187.2 -11.6 98 1413 0.00 1.92 0.00 0.000 260 0.000 0.042 2825 3584 3460 3507 3413 0 0 0 0 0 0 28.83 26.53 28.83

1435 -1.11 -107.1 2825 3585 3507 3413 190.8 -11.9 99 1446 0.00 1.80 0.00 0.000 1030 0.000 0.025 2826 2292 3459 3507 3412 0 0 0 0 0 0 28.83 26.62 28.83

1760 -1.11 -107.1 2825 2291 3507 3413 231.4 -12.7 115 1771 0.00 2.03 0.00 0.000 516 0.000 0.030 2826 913 3460 3507 3413 0 0 0 0 0 0 28.83 26.60 28.83

1818 -1.11 -107.1 2825 913 3507 3413 237.7 -12.5 117 1830 0.00 2.10 0.00 0.000 1030 0.000 0.030 2818 2313 3460 3507 3413 0 0 0 0 0 0 28.83 26.60 28.83

2138 -1.11 -107.1 2818 2313 3507 3413 279.8 -13.1 133 2148 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2313 3460 3507 3413 0 0 0 0 0 0 28.83 28.83 28.83

2438 -1.11 -107.1 2818 2313 3507 3413 319.6 -13.2 148 2449 0.00 1.88 0.00 0.000 260 0.000 0.044 2809 3593 3459 3506 3413 0 0 0 0 0 0 28.83 26.60 28.83

2518 -1.11 -107.1 2808 3593 3507 3413 329.5 -14.0 151 2530 0.12 1.80 0.00 0.000 3078 0.179 0.026 2841 2302 3459 3506 3413 0 0 0 0 0 0 26.39 26.70 28.83

2839 -1.11 -107.1 2841 2302 3506 3412 370.4 -12.0 167 2850 0.00 2.05 0.00 0.000 516 0.000 0.031 2849 908 3459 3506 3412 0 0 0 0 0 0 28.83 26.65 28.83

2902 -1.11 -107.1 2849 908 3506 3412 376.4 -12.0 169 2914 0.00 2.10 0.00 0.000 1030 0.000 0.031 2842 2316 3459 3506 3413 0 0 0 0 0 0 28.83 26.66 28.83

3208 -1.11 -107.1 2842 2315 3505 3412 413.1 -11.3 185 3219 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2315 3458 3504 3413 0 0 0 0 0 0 28.83 28.83 28.83

3509 -1.11 -107.1 2842 2315 3505 3413 446.1 -10.4 200 3520 0.00 1.88 0.00 0.000 260 0.000 0.044 2832 3593 3458 3505 3412 0 0 0 0 0 0 28.83 26.64 28.83

3604 -1.11 -107.1 1824 3592 3493 3409 455.7 -10.7 204 3615 0.00 1.80 0.00 0.000 1030 0.000 0.026 2833 2299 3458 3504 3412 0 0 0 0 0 0 28.83 26.73 28.83

3929 -1.11 -107.1 2832 2299 3504 3412 489.5 -9.9 220 3940 0.00 2.05 0.00 0.000 516 0.000 0.031 2838 905 3458 3504 3412 0 0 0 0 0 0 28.83 26.68 28.83

4028 -1.11 -107.1 2838 905 3504 3411 498.8 -10.3 224 4039 0.00 2.10 0.00 0.000 1030 0.000 0.031 2832 2313 3458 3504 3413 0 0 0 0 0 0 28.83 26.68 28.83

4228 end dive: TARGET_DEPTH_EXCEEDED

state 4228 begin apogee

4234 -0.25 0.0 2830 2025 3503 3411 520.8 -10.7 234 4383 0.88 0.00 135.12 0.770 10246 0.139 0.000 3115 2020 3005 3098 2912 0 0 0 0 0 0 26.37 28.83 24.55

4385 end apogee: CONTROL_FINISHED_OK

state 4385 begin climb

4388 1.11 107.1 3114 2020 3096 2909 525.0 0.0 241 4538 1.25 2.22 130.90 0.708 10756 0.078 0.032 3563 637 2563 2668 2459 0 0 0 0 0 0 25.30 25.01 24.38

4576 1.11 107.1 3563 637 2661 2456 510.2 12.1 250 4589 0.00 2.20 0.00 0.000 1030 0.000 0.028 3563 2026 2558 2661 2456 0 0 0 0 0 0 28.83 25.41 28.83

4882 1.11 107.1 3563 2026 2653 2453 466.3 13.7 266 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 3563 2026 2553 2653 2453 0 0 0 0 0 0 28.83 28.83 28.83

5182 1.11 107.1 3563 2026 2650 2450 424.3 13.8 281 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 3563 2026 2550 2650 2450 0 0 0 0 0 0 28.83 28.83 28.83

5482 1.11 107.1 3563 2025 2649 2449 385.6 12.6 296 5493 0.00 2.10 0.00 0.000 260 0.000 0.041 3563 3427 2549 2649 2449 0 0 0 0 0 0 28.83 26.36 28.83

5547 1.11 107.1 3563 3426 2649 2448 378.8 13.1 298 5559 0.00 2.05 0.00 0.000 1030 0.000 0.025 3573 2015 2548 2649 2448 0 0 0 0 0 0 28.83 26.46 28.83

5853 1.11 107.1 3573 2016 2648 2447 337.5 12.9 314 5864 0.00 2.08 0.00 0.000 516 0.000 0.034 3582 634 2547 2647 2447 0 0 0 0 0 0 28.83 26.46 28.83

5982 1.11 107.1 3582 634 2646 2447 320.8 12.9 320 5993 0.00 2.12 0.00 0.000 1030 0.000 0.028 3583 2030 2546 2646 2447 0 0 0 0 0 0 28.83 26.52 28.83

6311 1.11 107.1 3582 2030 2646 2446 275.9 14.0 336 6322 0.00 0.00 0.00 0.000 6 0.000 0.000 3583 2030 2546 2646 2446 0 0 0 0 0 0 28.83 28.83 28.83

6612 1.11 107.1 3582 2030 2645 2446 233.8 14.2 351 6623 0.00 0.00 0.00 0.000 6 0.000 0.000 3582 2030 2545 2645 2445 0 0 0 0 0 0 28.83 28.83 28.83

6911 1.11 107.1 3582 2030 2644 2446 193.1 12.9 366 6922 0.00 0.00 0.00 0.000 6 0.000 0.000 3583 2030 2545 2644 2446 0 0 0 0 0 0 28.83 28.83 28.83

7212 1.11 107.1 3582 2030 2644 2445 154.7 13.0 381 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 3582 2030 2544 2644 2445 0 0 0 0 0 0 28.83 28.83 28.83

7511 1.11 107.1 3582 2030 2644 2445 117.1 12.0 396 7522 0.00 0.00 0.00 0.000 6 0.000 0.000 3583 2030 2544 2644 2444 0 0 0 0 0 0 28.83 28.83 28.83

7812 1.11 107.1 3582 2030 2644 2444 80.6 10.7 411 7823 0.00 2.12 0.00 0.000 516 0.000 0.033 3592 632 2544 2644 2445 0 0 0 0 0 0 28.83 26.64 28.83

7951 1.11 107.1 3591 631 2643 2445 68.3 9.5 417 7963 0.12 2.10 0.00 0.000 5126 0.166 0.030 3559 2032 2544 2643 2445 0 0 0 0 0 0 26.43 26.67 28.83

8272 1.34 182.8 3558 2031 2643 2444 50.5 4.2 433 8379 0.17 2.20 93.47 0.568 10500 0.085 0.040 3634 3417 2259 2364 2154 0 0 0 0 0 0 26.64 25.67 25.10

8611 1.34 182.8 3634 3417 2355 2144 9.5 15.3 475 8623 0.00 2.05 0.00 0.000 1030 0.000 0.024 3644 2016 2249 2355 2144 0 0 0 0 0 0 28.83 26.18 28.83

8653 end climb: SURFACE_DEPTH_REACHED

state 8653 begin surface coast

8682 end surface coast: CONTROL_FINISHED_OK

state 8682 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	248	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	80	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	53	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	3	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	-193817.19	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	051113,215404,4749.411,-12518.526,32,0.9,32,17.2	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051113,220017,4749.475,-12518.491,17,0.9,17,17.2	MHEAD_RNG_PITCHd_Wd	182.3,157587,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	519

FINISH	1.7,1.003490	_24V_AH	24.4,26.857
SM_CCo	8704,84.20,0.057,0,0,1479,375.06	_10V_AH	9.6,30.715
SM_GC	2.64,8.57,0.43,84.20,0.031,0.044,0.057,331,2298,1479,-8.89,-1.67,375.06,0,0,0,0,0,0,26.17,26.21,26.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12518.46,051113,191958	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	258744
HUMID	56.18	DATA_FILE_SIZE	16800,487
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	114215,0
TCM_TEMP	18.30	CFSIZE	260034560,222412800
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3858752	CURRENT	0.043,302.7,1
PM_FREEKB	4021364	GPS	061113,002819,4748.739,-12519.297,19,1.9,19,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	230	116.58	nil	0	0	0.00
Roll_motor	53	59	77.35	nil	0	0	0.00
VBD_pump_during_apogee	359	769	6750.69	nil	0	0	0.00
VBD_pump_during_surface	84	56	116.30	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	8683	5	1177.12
Iridium_during_xfer	212	120	621.79	PMAR	209	9	50.48
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.33
TT8	1446	11	163.20
LPSleep	5405	2	113.65
TT8_Active	484	11	54.64
TT8_Sampling	1576	38	585.70
TT8_CF8	254	49	120.23
TT8_Kalman	0	0	0.00
Analog_circuits	1557	15	238.83
GPS_charging	0	0	0.00
Compass	1084	7	77.99
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	334	2312	1548	1371	0.0	0.0	0	76	0.00	0.00	-46.83	0.000	16386	0.000	0.000	334	2315	2693	2729	2658	0	0	0	0	0	0	28.83	28.83	28.83
81	-1.11	-107.1	334	2318	2736	2660	3.1	-1.6	8	131	9.62	1.98	-24.05	0.000	18692	0.230	0.060	2828	3576	3450	3495	3405	0	0	0	0	0	0	25.71	26.10	26.41
355	-1.11	-107.1	1856	3575	3491	3407	50.2	-19.9	46	367	0.00	1.83	0.00	0.000	1030	0.000	0.025	2835	2287	3456	3502	3410	0	0	0	0	0	0	28.83	26.35	28.83
663	-1.11	-107.1	2835	2287	3505	3411	93.3	-13.6	62	674	0.00	1.95	0.00	0.000	260	0.000	0.042	2828	3591	3458	3505	3412	0	0	0	0	0	0	28.83	26.39	28.83
777	-1.11	-107.1	2827	3591	3505	3412	110.7	-15.8	67	788	0.00	1.83	0.00	0.000	1030	0.000	0.026	2833	2290	3459	3505	3413	0	0	0	0	0	0	28.83	26.51	28.83
1101	-1.11	-107.1	2833	2291	3507	3413	152.5	-12.1	83	1111	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2290	3460	3507	3413	0	0	0	0	0	0	28.83	28.83	28.83
1402	-1.11	-107.1	2833	2290	3507	3413	187.2	-11.6	98	1413	0.00	1.92	0.00	0.000	260	0.000	0.042	2825	3584	3460	3507	3413	0	0	0	0	0	0	28.83	26.53	28.83
1435	-1.11	-107.1	2825	3585	3507	3413	190.8	-11.9	99	1446	0.00	1.80	0.00	0.000	1030	0.000	0.025	2826	2292	3459	3507	3412	0	0	0	0	0	0	28.83	26.62	28.83
1760	-1.11	-107.1	2825	2291	3507	3413	231.4	-12.7	115	1771	0.00	2.03	0.00	0.000	516	0.000	0.030	2826	913	3460	3507	3413	0	0	0	0	0	0	28.83	26.60	28.83
1818	-1.11	-107.1	2825	913	3507	3413	237.7	-12.5	117	1830	0.00	2.10	0.00	0.000	1030	0.000	0.030	2818	2313	3460	3507	3413	0	0	0	0	0	0	28.83	26.60	28.83
2138	-1.11	-107.1	2818	2313	3507	3413	279.8	-13.1	133	2148	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2313	3460	3507	3413	0	0	0	0	0	0	28.83	28.83	28.83
2438	-1.11	-107.1	2818	2313	3507	3413	319.6	-13.2	148	2449	0.00	1.88	0.00	0.000	260	0.000	0.044	2809	3593	3459	3506	3413	0	0	0	0	0	0	28.83	26.60	28.83
2518	-1.11	-107.1	2808	3593	3507	3413	329.5	-14.0	151	2530	0.12	1.80	0.00	0.000	3078	0.179	0.026	2841	2302	3459	3506	3413	0	0	0	0	0	0	26.39	26.70	28.83
2839	-1.11	-107.1	2841	2302	3506	3412	370.4	-12.0	167	2850	0.00	2.05	0.00	0.000	516	0.000	0.031	2849	908	3459	3506	3412	0	0	0	0	0	0	28.83	26.65	28.83
2902	-1.11	-107.1	2849	908	3506	3412	376.4	-12.0	169	2914	0.00	2.10	0.00	0.000	1030	0.000	0.031	2842	2316	3459	3506	3413	0	0	0	0	0	0	28.83	26.66	28.83
3208	-1.11	-107.1	2842	2315	3505	3412	413.1	-11.3	185	3219	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2315	3458	3504	3413	0	0	0	0	0	0	28.83	28.83	28.83
3509	-1.11	-107.1	2842	2315	3505	3413	446.1	-10.4	200	3520	0.00	1.88	0.00	0.000	260	0.000	0.044	2832	3593	3458	3505	3412	0	0	0	0	0	0	28.83	26.64	28.83
3604	-1.11	-107.1	1824	3592	3493	3409	455.7	-10.7	204	3615	0.00	1.80	0.00	0.000	1030	0.000	0.026	2833	2299	3458	3504	3412	0	0	0	0	0	0	28.83	26.73	28.83
3929	-1.11	-107.1	2832	2299	3504	3412	489.5	-9.9	220	3940	0.00	2.05	0.00	0.000	516	0.000	0.031	2838	905	3458	3504	3412	0	0	0	0	0	0	28.83	26.68	28.83
4028	-1.11	-107.1	2838	905	3504	3411	498.8	-10.3	224	4039	0.00	2.10	0.00	0.000	1030	0.000	0.031	2832	2313	3458	3504	3413	0	0	0	0	0	0	28.83	26.68	28.83
4228	end dive: TARGET_DEPTH_EXCEEDED
state	4228	begin apogee
4234	-0.25	0.0	2830	2025	3503	3411	520.8	-10.7	234	4383	0.88	0.00	135.12	0.770	10246	0.139	0.000	3115	2020	3005	3098	2912	0	0	0	0	0	0	26.37	28.83	24.55
4385	end apogee: CONTROL_FINISHED_OK
state	4385	begin climb
4388	1.11	107.1	3114	2020	3096	2909	525.0	0.0	241	4538	1.25	2.22	130.90	0.708	10756	0.078	0.032	3563	637	2563	2668	2459	0	0	0	0	0	0	25.30	25.01	24.38
4576	1.11	107.1	3563	637	2661	2456	510.2	12.1	250	4589	0.00	2.20	0.00	0.000	1030	0.000	0.028	3563	2026	2558	2661	2456	0	0	0	0	0	0	28.83	25.41	28.83
4882	1.11	107.1	3563	2026	2653	2453	466.3	13.7	266	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	3563	2026	2553	2653	2453	0	0	0	0	0	0	28.83	28.83	28.83
5182	1.11	107.1	3563	2026	2650	2450	424.3	13.8	281	5192	0.00	0.00	0.00	0.000	6	0.000	0.000	3563	2026	2550	2650	2450	0	0	0	0	0	0	28.83	28.83	28.83
5482	1.11	107.1	3563	2025	2649	2449	385.6	12.6	296	5493	0.00	2.10	0.00	0.000	260	0.000	0.041	3563	3427	2549	2649	2449	0	0	0	0	0	0	28.83	26.36	28.83
5547	1.11	107.1	3563	3426	2649	2448	378.8	13.1	298	5559	0.00	2.05	0.00	0.000	1030	0.000	0.025	3573	2015	2548	2649	2448	0	0	0	0	0	0	28.83	26.46	28.83
5853	1.11	107.1	3573	2016	2648	2447	337.5	12.9	314	5864	0.00	2.08	0.00	0.000	516	0.000	0.034	3582	634	2547	2647	2447	0	0	0	0	0	0	28.83	26.46	28.83
5982	1.11	107.1	3582	634	2646	2447	320.8	12.9	320	5993	0.00	2.12	0.00	0.000	1030	0.000	0.028	3583	2030	2546	2646	2447	0	0	0	0	0	0	28.83	26.52	28.83
6311	1.11	107.1	3582	2030	2646	2446	275.9	14.0	336	6322	0.00	0.00	0.00	0.000	6	0.000	0.000	3583	2030	2546	2646	2446	0	0	0	0	0	0	28.83	28.83	28.83
6612	1.11	107.1	3582	2030	2645	2446	233.8	14.2	351	6623	0.00	0.00	0.00	0.000	6	0.000	0.000	3582	2030	2545	2645	2445	0	0	0	0	0	0	28.83	28.83	28.83
6911	1.11	107.1	3582	2030	2644	2446	193.1	12.9	366	6922	0.00	0.00	0.00	0.000	6	0.000	0.000	3583	2030	2545	2644	2446	0	0	0	0	0	0	28.83	28.83	28.83
7212	1.11	107.1	3582	2030	2644	2445	154.7	13.0	381	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	3582	2030	2544	2644	2445	0	0	0	0	0	0	28.83	28.83	28.83
7511	1.11	107.1	3582	2030	2644	2445	117.1	12.0	396	7522	0.00	0.00	0.00	0.000	6	0.000	0.000	3583	2030	2544	2644	2444	0	0	0	0	0	0	28.83	28.83	28.83
7812	1.11	107.1	3582	2030	2644	2444	80.6	10.7	411	7823	0.00	2.12	0.00	0.000	516	0.000	0.033	3592	632	2544	2644	2445	0	0	0	0	0	0	28.83	26.64	28.83
7951	1.11	107.1	3591	631	2643	2445	68.3	9.5	417	7963	0.12	2.10	0.00	0.000	5126	0.166	0.030	3559	2032	2544	2643	2445	0	0	0	0	0	0	26.43	26.67	28.83
8272	1.34	182.8	3558	2031	2643	2444	50.5	4.2	433	8379	0.17	2.20	93.47	0.568	10500	0.085	0.040	3634	3417	2259	2364	2154	0	0	0	0	0	0	26.64	25.67	25.10
8611	1.34	182.8	3634	3417	2355	2144	9.5	15.3	475	8623	0.00	2.05	0.00	0.000	1030	0.000	0.024	3644	2016	2249	2355	2144	0	0	0	0	0	0	28.83	26.18	28.83
8653	end climb: SURFACE_DEPTH_REACHED
state	8653	begin surface coast
8682	end surface coast: CONTROL_FINISHED_OK
state	8682	begin surface