Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 351 * 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 351 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 54 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 56 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 4 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 48

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -194549.86 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 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 -194549.86

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 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 54 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 56 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 351 N_FILEKB 4 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 48 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 251113,122824,4749.395,-12515.164,28,1.3,29,17.2 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 2.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251113,123552,4749.370,-12515.000,38,0.8,38,17.2 MHEAD_RNG_PITCHd_Wd 198.9,161085,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.7,1.024940 _24V_AH 24.2,37.287

SM_CCo 8431,101.70,0.057,0,0,1480,375.06 _10V_AH 9.5,39.599

SM_GC 2.69,8.50,1.67,101.70,0.042,0.027,0.057,343,2321,1480,-8.86,2.43,375.06,0,0,0,0,0,0,26.22,26.38,26.10 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12517.37,251113,101018 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 258724

HUMID 56.18 DATA_FILE_SIZE 16762,484

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 120389,0

TCM_TEMP 18.30 CFSIZE 260034560,213663744

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

SC_FREEKB 3825760 CURRENT 0.035, 0.5,1

PM_FREEKB 3396796 GPS 251113,145958,4748.803,-12515.812,36,1.0,36,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 236 120.27 nil 0 0 0.00

Roll_motor 68 59 99.06 nil 0 0 0.00

VBD_pump_during_apogee 312 761 5768.62 nil 0 0 0.00

VBD_pump_during_surface 101 57 141.21 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 8415 4 970.97

Iridium_during_xfer 218 123 654.48 PMAR 203 9 47.97

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 29 11.52

TT8 1562 11 174.46

LPSleep 4920 2 102.38

TT8_Active 505 11 56.38

TT8_Sampling 1656 38 608.99

TT8_CF8 341 49 159.50

TT8_Kalman 0 0 0.00

Analog_circuits 1578 15 239.53

GPS_charging 0 0 0.00

Compass 1155 7 82.25

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.11 -107.1 330 2283 1542 1379 0.0 0.0 0 77 0.00 0.00 -46.53 0.000 16386 0.000 0.000 329 2290 2685 2721 2649 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.11 -107.1 329 2289 2724 2653 3.1 -2.2 8 126 10.00 2.05 -23.98 0.000 18692 0.236 0.060 2834 3584 3449 3498 3400 0 0 0 0 0 0 25.54 26.01 26.41

146 -1.11 -107.1 2833 3584 3499 3406 7.9 -12.1 17 158 0.00 1.88 0.00 0.000 1030 0.000 0.026 2839 2271 3453 3500 3406 0 0 0 0 0 0 28.83 26.16 28.83

479 -1.11 -107.1 2838 2270 3505 3409 62.4 -14.2 54 490 0.00 1.98 0.00 0.000 260 0.000 0.042 2830 3580 3456 3504 3409 0 0 0 0 0 0 28.83 26.19 28.83

579 -1.11 -107.1 2831 3581 3505 3410 74.6 -13.5 58 590 0.00 1.83 0.00 0.000 1030 0.000 0.025 2831 2284 3457 3505 3410 0 0 0 0 0 0 28.83 26.37 28.83

899 -1.11 -107.1 2830 2284 3506 3411 117.6 -12.4 74 910 0.00 1.95 0.00 0.000 260 0.000 0.041 2821 3591 3458 3506 3411 0 0 0 0 0 0 28.83 26.29 28.83

1050 -1.11 -107.1 2820 3591 3506 3411 137.7 -13.5 81 1061 0.00 1.80 0.00 0.000 1030 0.000 0.025 2820 2303 3458 3506 3411 0 0 0 0 0 0 28.83 26.48 28.83

1380 -1.11 -107.1 2820 2302 3506 3411 178.5 -11.7 97 1391 0.00 2.08 0.00 0.000 516 0.000 0.030 2821 915 3459 3507 3411 0 0 0 0 0 0 28.83 26.44 28.83

1460 -1.11 -107.1 2822 915 3506 3411 186.5 -11.5 100 1471 0.00 2.10 0.00 0.000 1030 0.000 0.031 2815 2308 3458 3507 3410 0 0 0 0 0 0 28.83 26.45 28.83

1780 -1.11 -107.1 2814 2307 3506 3411 225.5 -11.7 116 1791 0.00 2.10 0.00 0.000 516 0.000 0.029 2815 909 3458 3506 3411 0 0 0 0 0 0 28.83 26.47 28.83

1890 -1.11 -107.1 2815 909 3506 3411 238.9 -12.2 121 1901 0.12 2.10 0.00 0.000 3078 0.180 0.031 2837 2304 3458 3506 3411 0 0 0 0 0 0 26.10 26.47 28.83

2221 -1.11 -107.1 2837 2304 3506 3411 274.6 -10.3 137 2232 0.00 1.90 0.00 0.000 260 0.000 0.043 2830 3580 3458 3506 3411 0 0 0 0 0 0 28.83 26.41 28.83

2279 -1.11 -107.1 2830 3580 3505 3411 280.5 -11.2 139 2290 0.00 1.80 0.00 0.000 1030 0.000 0.026 2830 2289 3458 3506 3411 0 0 0 0 0 0 28.83 26.58 28.83

2599 -1.11 -107.1 2829 2288 3505 3411 319.8 -11.3 155 2610 0.00 1.95 0.00 0.000 260 0.000 0.043 2820 3596 3458 3505 3411 0 0 0 0 0 0 28.83 26.41 28.83

2633 -1.11 -107.1 2820 3596 3505 3411 323.3 -11.5 156 2644 0.00 1.80 0.00 0.000 1030 0.000 0.026 2820 2303 3458 3505 3411 0 0 0 0 0 0 28.83 26.60 28.83

2957 -1.11 -107.1 2820 2302 3505 3411 363.5 -12.3 172 2968 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2302 3457 3505 3410 0 0 0 0 0 0 28.83 28.83 28.83

3257 -1.11 -107.1 2819 2302 3504 3411 398.7 -11.5 187 3268 0.00 2.08 0.00 0.000 516 0.000 0.030 2821 910 3457 3504 3411 0 0 0 0 0 0 28.83 26.51 28.83

3402 -1.11 -107.1 2821 910 3504 3411 413.7 -11.7 193 3413 0.00 2.10 0.00 0.000 1030 0.000 0.031 2814 2303 3457 3504 3411 0 0 0 0 0 0 28.83 26.52 28.83

3708 -1.11 -107.1 2814 2302 3503 3411 451.5 -11.7 209 3719 0.00 1.90 0.00 0.000 260 0.000 0.044 2805 3593 3457 3503 3411 0 0 0 0 0 0 28.83 26.42 28.83

3788 -1.11 -107.1 2804 3593 3502 3411 460.0 -12.1 212 3799 0.15 1.80 0.00 0.000 3078 0.168 0.026 2842 2301 3456 3502 3411 0 0 0 0 0 0 26.12 26.62 28.83

3985 end dive: TARGET_DEPTH_EXCEEDED

state 3985 begin apogee

3992 -0.25 0.0 2844 2029 3502 3411 482.8 -10.9 222 4146 0.85 0.00 136.73 0.762 10246 0.136 0.000 3117 2027 3004 3096 2912 0 0 0 0 0 0 25.90 28.83 24.25

4148 end apogee: CONTROL_FINISHED_OK

state 4148 begin climb

4151 1.11 107.1 3116 2027 3095 2911 486.0 0.0 229 4297 1.25 0.00 133.52 0.743 10502 0.077 0.000 3555 2028 2571 2674 2469 0 0 0 0 0 0 25.25 28.83 24.18

4588 1.11 107.1 3555 2027 2654 2457 438.6 12.3 252 4598 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2027 2555 2653 2457 0 0 0 0 0 0 28.83 28.83 28.83

4889 1.11 107.1 3555 2027 2649 2454 402.3 12.6 267 4900 0.00 2.15 0.00 0.000 260 0.000 0.040 3555 3428 2551 2649 2454 0 0 0 0 0 0 28.83 26.11 28.83

4942 1.11 107.1 2768 3427 2596 2445 395.6 13.0 269 4953 0.00 2.05 0.00 0.000 1030 0.000 0.025 3565 2021 2551 2648 2454 0 0 0 0 0 0 28.83 26.26 28.83

5267 1.11 107.1 3565 2021 2647 2453 353.9 12.5 285 5278 0.00 2.12 0.00 0.000 516 0.000 0.034 3575 637 2550 2647 2453 0 0 0 0 0 0 28.83 26.28 28.83

5422 1.11 107.1 3574 637 2645 2453 335.3 12.4 292 5433 0.00 2.12 0.00 0.000 1030 0.000 0.029 3575 2024 2549 2646 2453 0 0 0 0 0 0 28.83 26.36 28.83

5747 1.11 107.1 3574 2023 2645 2453 294.8 12.7 308 5757 0.00 0.00 0.00 0.000 6 0.000 0.000 3575 2023 2548 2644 2453 0 0 0 0 0 0 28.83 28.83 28.83

6047 1.11 107.1 3574 2023 2643 2452 255.4 12.9 323 6057 0.00 2.08 0.00 0.000 260 0.000 0.041 3574 3424 2547 2643 2452 0 0 0 0 0 0 28.83 26.35 28.83

6181 1.11 107.1 2784 3422 2589 2442 237.5 13.7 329 6192 0.00 2.03 0.00 0.000 1030 0.000 0.025 3583 2016 2547 2643 2451 0 0 0 0 0 0 28.83 26.51 28.83

6506 1.11 107.1 3582 2016 2642 2450 193.4 13.3 345 6517 0.00 2.08 0.00 0.000 516 0.000 0.034 3592 642 2545 2641 2450 0 0 0 0 0 0 28.83 26.44 28.83

6727 1.11 107.1 3593 642 2641 2450 166.5 12.2 355 6739 0.15 2.15 0.00 0.000 5126 0.157 0.031 3554 2037 2545 2640 2450 0 0 0 0 0 0 26.11 26.48 28.83

7048 1.11 107.1 3554 2036 2640 2449 129.0 11.2 371 7059 0.00 2.08 0.00 0.000 260 0.000 0.041 3552 3424 2544 2640 2449 0 0 0 0 0 0 28.83 26.40 28.83

7081 1.11 107.1 3551 3424 2640 2449 125.6 11.3 372 7092 0.00 2.03 0.00 0.000 1030 0.000 0.025 3559 2016 2544 2640 2449 0 0 0 0 0 0 28.83 26.57 28.83

7406 1.11 107.1 3559 2016 2640 2449 88.7 11.5 388 7417 0.00 2.08 0.00 0.000 516 0.000 0.034 3569 641 2544 2640 2449 0 0 0 0 0 0 28.83 26.46 28.83

7531 1.11 107.1 3569 641 2640 2449 75.8 11.5 393 7544 0.00 2.12 0.00 0.000 1030 0.000 0.030 3568 2037 2544 2640 2449 0 0 0 0 0 0 28.83 26.51 28.83

7838 1.22 144.5 3568 2037 2640 2449 51.4 6.2 409 7893 0.00 2.15 42.60 0.590 8452 0.000 0.041 3568 3425 2416 2513 2320 0 0 0 0 0 0 28.83 26.09 25.43

8024 1.22 144.5 3568 3425 2508 2315 37.0 9.5 425 8035 0.00 2.05 0.00 0.000 1030 0.000 0.025 3576 2018 2411 2508 2315 0 0 0 0 0 0 28.83 26.25 28.83

8340 1.22 144.5 3576 2019 2504 2314 8.5 9.6 473 8352 0.00 2.15 0.00 0.000 260 0.000 0.040 3576 3427 2409 2504 2314 0 0 0 0 0 0 28.83 26.23 28.83

8384 end climb: SURFACE_DEPTH_REACHED

state 8384 begin surface coast

8407 end surface coast: CONTROL_FINISHED_OK

state 8407 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	351	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	54	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	56	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	4	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	48
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-194549.86	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	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	251113,122824,4749.395,-12515.164,28,1.3,29,17.2	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	2.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251113,123552,4749.370,-12515.000,38,0.8,38,17.2	MHEAD_RNG_PITCHd_Wd	198.9,161085,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	482

FINISH	1.7,1.024940	_24V_AH	24.2,37.287
SM_CCo	8431,101.70,0.057,0,0,1480,375.06	_10V_AH	9.5,39.599
SM_GC	2.69,8.50,1.67,101.70,0.042,0.027,0.057,343,2321,1480,-8.86,2.43,375.06,0,0,0,0,0,0,26.22,26.38,26.10	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12517.37,251113,101018	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	258724
HUMID	56.18	DATA_FILE_SIZE	16762,484
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	120389,0
TCM_TEMP	18.30	CFSIZE	260034560,213663744
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3825760	CURRENT	0.035, 0.5,1
PM_FREEKB	3396796	GPS	251113,145958,4748.803,-12515.812,36,1.0,36,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	236	120.27	nil	0	0	0.00
Roll_motor	68	59	99.06	nil	0	0	0.00
VBD_pump_during_apogee	312	761	5768.62	nil	0	0	0.00
VBD_pump_during_surface	101	57	141.21	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	8415	4	970.97
Iridium_during_xfer	218	123	654.48	PMAR	203	9	47.97
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	29	11.52
TT8	1562	11	174.46
LPSleep	4920	2	102.38
TT8_Active	505	11	56.38
TT8_Sampling	1656	38	608.99
TT8_CF8	341	49	159.50
TT8_Kalman	0	0	0.00
Analog_circuits	1578	15	239.53
GPS_charging	0	0	0.00
Compass	1155	7	82.25
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.11	-107.1	330	2283	1542	1379	0.0	0.0	0	77	0.00	0.00	-46.53	0.000	16386	0.000	0.000	329	2290	2685	2721	2649	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.11	-107.1	329	2289	2724	2653	3.1	-2.2	8	126	10.00	2.05	-23.98	0.000	18692	0.236	0.060	2834	3584	3449	3498	3400	0	0	0	0	0	0	25.54	26.01	26.41
146	-1.11	-107.1	2833	3584	3499	3406	7.9	-12.1	17	158	0.00	1.88	0.00	0.000	1030	0.000	0.026	2839	2271	3453	3500	3406	0	0	0	0	0	0	28.83	26.16	28.83
479	-1.11	-107.1	2838	2270	3505	3409	62.4	-14.2	54	490	0.00	1.98	0.00	0.000	260	0.000	0.042	2830	3580	3456	3504	3409	0	0	0	0	0	0	28.83	26.19	28.83
579	-1.11	-107.1	2831	3581	3505	3410	74.6	-13.5	58	590	0.00	1.83	0.00	0.000	1030	0.000	0.025	2831	2284	3457	3505	3410	0	0	0	0	0	0	28.83	26.37	28.83
899	-1.11	-107.1	2830	2284	3506	3411	117.6	-12.4	74	910	0.00	1.95	0.00	0.000	260	0.000	0.041	2821	3591	3458	3506	3411	0	0	0	0	0	0	28.83	26.29	28.83
1050	-1.11	-107.1	2820	3591	3506	3411	137.7	-13.5	81	1061	0.00	1.80	0.00	0.000	1030	0.000	0.025	2820	2303	3458	3506	3411	0	0	0	0	0	0	28.83	26.48	28.83
1380	-1.11	-107.1	2820	2302	3506	3411	178.5	-11.7	97	1391	0.00	2.08	0.00	0.000	516	0.000	0.030	2821	915	3459	3507	3411	0	0	0	0	0	0	28.83	26.44	28.83
1460	-1.11	-107.1	2822	915	3506	3411	186.5	-11.5	100	1471	0.00	2.10	0.00	0.000	1030	0.000	0.031	2815	2308	3458	3507	3410	0	0	0	0	0	0	28.83	26.45	28.83
1780	-1.11	-107.1	2814	2307	3506	3411	225.5	-11.7	116	1791	0.00	2.10	0.00	0.000	516	0.000	0.029	2815	909	3458	3506	3411	0	0	0	0	0	0	28.83	26.47	28.83
1890	-1.11	-107.1	2815	909	3506	3411	238.9	-12.2	121	1901	0.12	2.10	0.00	0.000	3078	0.180	0.031	2837	2304	3458	3506	3411	0	0	0	0	0	0	26.10	26.47	28.83
2221	-1.11	-107.1	2837	2304	3506	3411	274.6	-10.3	137	2232	0.00	1.90	0.00	0.000	260	0.000	0.043	2830	3580	3458	3506	3411	0	0	0	0	0	0	28.83	26.41	28.83
2279	-1.11	-107.1	2830	3580	3505	3411	280.5	-11.2	139	2290	0.00	1.80	0.00	0.000	1030	0.000	0.026	2830	2289	3458	3506	3411	0	0	0	0	0	0	28.83	26.58	28.83
2599	-1.11	-107.1	2829	2288	3505	3411	319.8	-11.3	155	2610	0.00	1.95	0.00	0.000	260	0.000	0.043	2820	3596	3458	3505	3411	0	0	0	0	0	0	28.83	26.41	28.83
2633	-1.11	-107.1	2820	3596	3505	3411	323.3	-11.5	156	2644	0.00	1.80	0.00	0.000	1030	0.000	0.026	2820	2303	3458	3505	3411	0	0	0	0	0	0	28.83	26.60	28.83
2957	-1.11	-107.1	2820	2302	3505	3411	363.5	-12.3	172	2968	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2302	3457	3505	3410	0	0	0	0	0	0	28.83	28.83	28.83
3257	-1.11	-107.1	2819	2302	3504	3411	398.7	-11.5	187	3268	0.00	2.08	0.00	0.000	516	0.000	0.030	2821	910	3457	3504	3411	0	0	0	0	0	0	28.83	26.51	28.83
3402	-1.11	-107.1	2821	910	3504	3411	413.7	-11.7	193	3413	0.00	2.10	0.00	0.000	1030	0.000	0.031	2814	2303	3457	3504	3411	0	0	0	0	0	0	28.83	26.52	28.83
3708	-1.11	-107.1	2814	2302	3503	3411	451.5	-11.7	209	3719	0.00	1.90	0.00	0.000	260	0.000	0.044	2805	3593	3457	3503	3411	0	0	0	0	0	0	28.83	26.42	28.83
3788	-1.11	-107.1	2804	3593	3502	3411	460.0	-12.1	212	3799	0.15	1.80	0.00	0.000	3078	0.168	0.026	2842	2301	3456	3502	3411	0	0	0	0	0	0	26.12	26.62	28.83
3985	end dive: TARGET_DEPTH_EXCEEDED
state	3985	begin apogee
3992	-0.25	0.0	2844	2029	3502	3411	482.8	-10.9	222	4146	0.85	0.00	136.73	0.762	10246	0.136	0.000	3117	2027	3004	3096	2912	0	0	0	0	0	0	25.90	28.83	24.25
4148	end apogee: CONTROL_FINISHED_OK
state	4148	begin climb
4151	1.11	107.1	3116	2027	3095	2911	486.0	0.0	229	4297	1.25	0.00	133.52	0.743	10502	0.077	0.000	3555	2028	2571	2674	2469	0	0	0	0	0	0	25.25	28.83	24.18
4588	1.11	107.1	3555	2027	2654	2457	438.6	12.3	252	4598	0.00	0.00	0.00	0.000	6	0.000	0.000	3555	2027	2555	2653	2457	0	0	0	0	0	0	28.83	28.83	28.83
4889	1.11	107.1	3555	2027	2649	2454	402.3	12.6	267	4900	0.00	2.15	0.00	0.000	260	0.000	0.040	3555	3428	2551	2649	2454	0	0	0	0	0	0	28.83	26.11	28.83
4942	1.11	107.1	2768	3427	2596	2445	395.6	13.0	269	4953	0.00	2.05	0.00	0.000	1030	0.000	0.025	3565	2021	2551	2648	2454	0	0	0	0	0	0	28.83	26.26	28.83
5267	1.11	107.1	3565	2021	2647	2453	353.9	12.5	285	5278	0.00	2.12	0.00	0.000	516	0.000	0.034	3575	637	2550	2647	2453	0	0	0	0	0	0	28.83	26.28	28.83
5422	1.11	107.1	3574	637	2645	2453	335.3	12.4	292	5433	0.00	2.12	0.00	0.000	1030	0.000	0.029	3575	2024	2549	2646	2453	0	0	0	0	0	0	28.83	26.36	28.83
5747	1.11	107.1	3574	2023	2645	2453	294.8	12.7	308	5757	0.00	0.00	0.00	0.000	6	0.000	0.000	3575	2023	2548	2644	2453	0	0	0	0	0	0	28.83	28.83	28.83
6047	1.11	107.1	3574	2023	2643	2452	255.4	12.9	323	6057	0.00	2.08	0.00	0.000	260	0.000	0.041	3574	3424	2547	2643	2452	0	0	0	0	0	0	28.83	26.35	28.83
6181	1.11	107.1	2784	3422	2589	2442	237.5	13.7	329	6192	0.00	2.03	0.00	0.000	1030	0.000	0.025	3583	2016	2547	2643	2451	0	0	0	0	0	0	28.83	26.51	28.83
6506	1.11	107.1	3582	2016	2642	2450	193.4	13.3	345	6517	0.00	2.08	0.00	0.000	516	0.000	0.034	3592	642	2545	2641	2450	0	0	0	0	0	0	28.83	26.44	28.83
6727	1.11	107.1	3593	642	2641	2450	166.5	12.2	355	6739	0.15	2.15	0.00	0.000	5126	0.157	0.031	3554	2037	2545	2640	2450	0	0	0	0	0	0	26.11	26.48	28.83
7048	1.11	107.1	3554	2036	2640	2449	129.0	11.2	371	7059	0.00	2.08	0.00	0.000	260	0.000	0.041	3552	3424	2544	2640	2449	0	0	0	0	0	0	28.83	26.40	28.83
7081	1.11	107.1	3551	3424	2640	2449	125.6	11.3	372	7092	0.00	2.03	0.00	0.000	1030	0.000	0.025	3559	2016	2544	2640	2449	0	0	0	0	0	0	28.83	26.57	28.83
7406	1.11	107.1	3559	2016	2640	2449	88.7	11.5	388	7417	0.00	2.08	0.00	0.000	516	0.000	0.034	3569	641	2544	2640	2449	0	0	0	0	0	0	28.83	26.46	28.83
7531	1.11	107.1	3569	641	2640	2449	75.8	11.5	393	7544	0.00	2.12	0.00	0.000	1030	0.000	0.030	3568	2037	2544	2640	2449	0	0	0	0	0	0	28.83	26.51	28.83
7838	1.22	144.5	3568	2037	2640	2449	51.4	6.2	409	7893	0.00	2.15	42.60	0.590	8452	0.000	0.041	3568	3425	2416	2513	2320	0	0	0	0	0	0	28.83	26.09	25.43
8024	1.22	144.5	3568	3425	2508	2315	37.0	9.5	425	8035	0.00	2.05	0.00	0.000	1030	0.000	0.025	3576	2018	2411	2508	2315	0	0	0	0	0	0	28.83	26.25	28.83
8340	1.22	144.5	3576	2019	2504	2314	8.5	9.6	473	8352	0.00	2.15	0.00	0.000	260	0.000	0.040	3576	3427	2409	2504	2314	0	0	0	0	0	0	28.83	26.23	28.83
8384	end climb: SURFACE_DEPTH_REACHED
state	8384	begin surface coast
8407	end surface coast: CONTROL_FINISHED_OK
state	8407	begin surface