Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 40 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2892 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 330 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 370 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS 20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593231.1 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367308

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3111006e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3360 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 140 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0016 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 1.0

HD_B 0.0099999998 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 1.4e-05 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 22 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 1.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0016 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 1.4e-05 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 330

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593231.1

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 370

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3360 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2700 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2892 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 140 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 10 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 17 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 13 VBD_MAXERRORS 1

DIVE 40 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 0

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0049999999 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367308

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3111006e-05

Pre-dive calculations and measurements:

GPS1 270614,065935,4750.997,-12514.063,51,1.0,56,18.7 SPEED_LIMITS 0.173,0.237

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.33 MHEAD_RNG_PITCHd_Wd 203.2,163787,-15.7,-10.000,-22.91,1951

_SM_ANGLEo -71.2 D_GRID 381

GPS2 270614,070601,4751.027,-12514.088,16,1.3,16,18.7

Post-dive calculations and measurements:

FINISH 0.6,1.023766 _10V_AH 13.1,0.000

SM_CCo 7419,0.00,0.000,0,0,1459,351.51 FG_AHR_24Vo 0.000

SM_GC 1.67,9.38,0.60,0.00,0.096,0.117,0.000,401,2390,1459,-9.21,0.31,351.51,0,0,0,0,0,0,14.41,14.42,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12535.24,230407,181838 MEM 290820

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23422,703

HUMID 49.72 CAP_FILE_SIZE 115485,0

INTERNAL_PRESSURE 8.9425 CFSIZE 260034560,254373888

TCM_TEMP 18.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,6390.02,0x2378ba,7,5

SC_FREEKB 3925216 EKF 7501,2870.564697,-7514.695312,0.654130,-0.007609,-0.011286,-0.078138,0.004406,0.009782,0.002295,0.117388,0.117388,0.000129

PM_FREEKB 61857984 CURRENT 0.081,279.3,1

_24V_AH 13.4,6.835 GPS 270614,091133,4750.617,-12515.183,13,2.5,33,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 432 142.91 nil 0 0 0.00

Roll_motor 57 151 116.50 nil 0 0 0.00

VBD_pump_during_apogee 373 1172 5862.79 nil 0 0 0.00

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 7341 7 697.54

Iridium_during_xfer 182 162 397.50 PMAR 3593 4 199.52

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.96

TT8 2098 10 280.95

LPSleep 3401 2 97.59

TT8_Active 534 10 71.51

TT8_Sampling 1409 28 534.44

TT8_CF8 364 35 170.27

TT8_Kalman 0 0 0.00

Analog_circuits 1419 10 185.99

GPS_charging 0 0 0.00

Compass 1078 0 10.60

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.85 -136.3 398 2385 1590 1338 0.0 0.0 0 91 0.00 0.00 -61.22 0.000 16386 0.000 0.000 397 2385 3074 3109 3040 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.85 -136.3 397 2385 3109 3041 3.6 -4.8 6 127 12.90 2.53 -6.28 0.000 18948 0.432 0.137 3077 982 3450 3469 3431 0 0 0 0 0 0 14.23 14.37 14.61

375 -0.82 -136.3 3077 978 3470 3436 63.4 -15.1 55 387 0.00 2.47 0.00 0.000 1030 0.000 0.099 3078 2405 3453 3471 3436 0 0 0 0 0 0 28.83 14.45 28.83

567 -0.80 -136.3 3077 2405 3471 3437 90.2 -13.1 74 576 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2406 3454 3472 3437 0 0 0 0 0 0 28.83 28.83 28.83

757 -0.78 -136.3 3077 2405 3473 3436 115.8 -13.3 93 767 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2405 3454 3472 3436 0 0 0 0 0 0 28.83 28.83 28.83

948 -0.77 -136.3 3077 2402 3472 3437 143.2 -14.1 112 958 0.12 0.00 0.00 0.000 2054 0.294 0.000 3111 2405 3453 3472 3434 0 0 0 0 0 0 14.45 28.83 28.83

1138 -0.77 -136.3 3110 2406 3472 3436 165.4 -11.0 131 1149 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2405 3454 3472 3436 0 0 0 0 0 0 28.83 28.83 28.83

1329 -0.77 -136.3 3111 2405 3476 3436 186.1 -10.3 150 1337 0.00 2.47 0.00 0.000 516 0.000 0.111 3111 986 3454 3472 3436 0 0 0 0 0 0 28.83 14.54 28.83

1383 -0.77 -136.3 3111 986 3471 3437 191.7 -10.7 159 1395 0.00 2.45 0.00 0.000 1030 0.000 0.100 3112 2399 3454 3472 3437 0 0 0 0 0 0 28.83 14.55 28.83

1575 -0.77 -136.3 3111 2399 3472 3437 210.4 -10.0 178 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2399 3453 3470 3436 0 0 0 0 0 0 28.83 28.83 28.83

1765 -0.77 -136.3 3111 2399 3472 3436 229.7 -9.8 197 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2399 3454 3472 3436 0 0 0 0 0 0 28.83 28.83 28.83

1957 -0.77 -136.3 3111 2400 3472 3436 247.5 -9.4 216 1966 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2401 3454 3472 3436 0 0 0 0 0 0 28.83 28.83 28.83

2167 -0.77 -136.3 3110 2399 3472 3434 266.2 -8.6 225 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2399 3452 3469 3436 0 0 0 0 0 0 28.83 28.83 28.83

2467 -0.77 -136.3 3111 2399 3467 3436 294.2 -9.7 235 2470 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2399 3454 3472 3436 0 0 0 0 0 0 28.83 28.83 28.83

2767 -0.77 -136.3 3111 2397 3472 3434 322.7 -8.9 245 2776 0.00 2.47 0.00 0.000 516 0.000 0.117 3111 987 3453 3472 3435 0 0 0 0 0 0 28.83 14.58 28.83

2831 -0.77 -136.3 3112 987 3479 3434 328.7 -9.7 256 2841 0.00 2.47 0.00 0.000 1030 0.000 0.105 3108 2405 3453 3472 3434 0 0 0 0 0 0 28.83 14.59 28.83

3139 -0.77 -136.3 3111 2405 3471 3432 355.8 -8.8 267 3143 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2406 3453 3475 3432 0 0 0 0 0 0 28.83 28.83 28.83

3433 end dive: TARGET_DEPTH_EXCEEDED

state 3433 begin apogee

3442 -0.32 0.0 3111 2702 3472 3431 382.0 -9.5 277 3556 0.50 0.00 106.15 1.173 10246 0.213 0.000 3257 2702 2893 2964 2822 0 0 0 0 0 0 14.53 28.83 13.62

3560 end apogee: CONTROL_FINISHED_OK

state 3560 begin climb

3564 0.85 136.3 3257 2702 2957 2821 387.0 0.0 281 3694 1.20 2.47 109.78 1.139 10500 0.167 0.128 3626 4008 2333 2479 2188 0 0 0 0 0 0 14.04 13.83 13.42

3724 0.79 136.3 3625 4005 2477 2188 375.3 15.3 305 3735 0.00 2.40 0.00 0.000 1030 0.000 0.116 3627 2708 2333 2478 2188 0 0 0 0 0 0 28.83 13.95 28.83

4066 0.74 136.3 3627 2705 2477 2182 325.4 13.9 321 4077 0.00 2.67 0.00 0.000 516 0.000 0.151 3631 1285 2329 2477 2182 0 0 0 0 0 0 28.83 14.28 28.83

4241 0.69 136.3 3630 1284 2476 2181 302.0 13.8 353 4253 0.17 2.60 0.00 0.000 5126 0.321 0.122 3590 2704 2328 2476 2181 0 0 0 0 0 0 14.31 14.39 28.83

4574 0.66 136.3 3590 2701 2476 2179 262.0 11.6 367 4586 0.00 2.65 0.00 0.000 516 0.000 0.151 3596 1280 2329 2479 2179 0 0 0 0 0 0 28.83 14.43 28.83

4648 0.62 136.3 3595 1280 2476 2179 254.1 10.8 379 4662 0.15 2.58 0.00 0.000 5126 0.305 0.121 3564 2709 2327 2476 2179 0 0 0 0 0 0 14.41 14.48 28.83

4973 0.62 160.5 3564 2704 2475 2177 225.0 8.7 413 5002 0.00 2.75 18.98 0.992 8708 0.000 0.151 3564 1278 2235 2392 2079 0 0 0 0 0 0 28.83 14.39 14.07

5095 0.61 164.0 3564 1278 2392 2081 213.6 9.8 433 5113 0.00 2.55 3.22 0.683 9222 0.000 0.118 3565 2696 2228 2388 2069 0 0 0 0 0 0 28.83 14.45 13.95

5294 0.59 165.8 3570 2697 2382 2075 193.1 9.9 453 5306 0.00 0.00 3.03 0.645 8198 0.000 0.000 3560 2696 2216 2374 2059 0 0 0 0 0 0 28.83 28.83 13.98

5488 0.57 165.8 3564 2696 2374 2062 173.0 10.5 472 5499 0.00 2.62 0.00 0.000 516 0.000 0.151 3564 1285 2220 2374 2066 0 0 0 0 0 0 28.83 14.44 28.83

5586 0.57 176.9 3564 1285 2374 2061 163.2 9.4 488 5610 0.00 2.53 11.80 0.934 9222 0.000 0.117 3564 2698 2165 2322 2009 0 0 0 0 0 0 28.83 14.49 14.09

5801 0.55 176.9 3564 2698 2327 2009 141.1 10.0 510 5812 0.00 0.00 0.00 0.000 6 0.000 0.000 3564 2697 2168 2327 2009 0 0 0 0 0 0 28.83 28.83 28.83

5993 0.53 176.9 3564 2697 2327 2008 121.6 10.3 529 6005 0.12 0.00 0.00 0.000 4102 0.281 0.000 3531 2697 2167 2327 2008 0 0 0 0 0 0 14.45 28.83 28.83

6187 0.54 187.8 3530 2697 2327 2007 102.9 9.4 548 6210 0.00 2.62 10.07 0.871 8708 0.000 0.134 3532 1288 2124 2285 1963 0 0 0 0 0 0 28.83 14.45 14.14

6313 0.54 187.8 3533 1288 2289 1963 89.6 10.6 569 6325 0.00 2.53 0.00 0.000 1030 0.000 0.112 3532 2705 2123 2284 1963 0 0 0 0 0 0 28.83 14.52 28.83

6507 0.56 207.3 3532 2704 2284 1962 71.2 9.0 588 6539 0.00 2.67 16.52 0.830 8708 0.000 0.150 3533 1283 2045 2209 1882 0 0 0 0 0 0 28.83 14.38 14.13

6665 0.58 232.6 3532 1282 2209 1882 57.2 8.7 615 6696 0.00 2.53 20.23 0.803 9222 0.000 0.112 3532 2697 1942 2097 1788 0 0 0 0 0 0 28.83 14.46 14.09

6887 0.65 295.1 3533 2696 2094 1788 40.9 6.7 638 6947 0.12 2.65 47.08 0.756 10756 0.172 0.134 3587 1280 1684 1851 1518 0 0 0 0 0 0 14.47 14.23 14.00

7166 0.70 351.3 3587 1280 1850 1519 16.3 7.0 685 7205 0.00 2.55 26.23 0.171 9222 0.000 0.108 3587 2708 1460 1622 1298 0 0 0 0 0 0 28.83 14.36 14.33

7292 end climb: SURFACE_DEPTH_REACHED

state 7292 begin surface coast

7333 end surface coast: CONTROL_FINISHED_OK

state 7333 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	40	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2892	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	330	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	370	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593231.1	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367308
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3111006e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3360	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	140	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0016	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	1.0
HD_B	0.0099999998	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	1.4e-05	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	270614,065935,4750.997,-12514.063,51,1.0,56,18.7	SPEED_LIMITS	0.173,0.237
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.33	MHEAD_RNG_PITCHd_Wd	203.2,163787,-15.7,-10.000,-22.91,1951
_SM_ANGLEo	-71.2	D_GRID	381
GPS2	270614,070601,4751.027,-12514.088,16,1.3,16,18.7

FINISH	0.6,1.023766	_10V_AH	13.1,0.000
SM_CCo	7419,0.00,0.000,0,0,1459,351.51	FG_AHR_24Vo	0.000
SM_GC	1.67,9.38,0.60,0.00,0.096,0.117,0.000,401,2390,1459,-9.21,0.31,351.51,0,0,0,0,0,0,14.41,14.42,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12535.24,230407,181838	MEM	290820
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23422,703
HUMID	49.72	CAP_FILE_SIZE	115485,0
INTERNAL_PRESSURE	8.9425	CFSIZE	260034560,254373888
TCM_TEMP	18.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,6390.02,0x2378ba,7,5
SC_FREEKB	3925216	EKF	7501,2870.564697,-7514.695312,0.654130,-0.007609,-0.011286,-0.078138,0.004406,0.009782,0.002295,0.117388,0.117388,0.000129
PM_FREEKB	61857984	CURRENT	0.081,279.3,1
_24V_AH	13.4,6.835	GPS	270614,091133,4750.617,-12515.183,13,2.5,33,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	432	142.91	nil	0	0	0.00
Roll_motor	57	151	116.50	nil	0	0	0.00
VBD_pump_during_apogee	373	1172	5862.79	nil	0	0	0.00
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	7341	7	697.54
Iridium_during_xfer	182	162	397.50	PMAR	3593	4	199.52
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.96
TT8	2098	10	280.95
LPSleep	3401	2	97.59
TT8_Active	534	10	71.51
TT8_Sampling	1409	28	534.44
TT8_CF8	364	35	170.27
TT8_Kalman	0	0	0.00
Analog_circuits	1419	10	185.99
GPS_charging	0	0	0.00
Compass	1078	0	10.60
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.85	-136.3	398	2385	1590	1338	0.0	0.0	0	91	0.00	0.00	-61.22	0.000	16386	0.000	0.000	397	2385	3074	3109	3040	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.85	-136.3	397	2385	3109	3041	3.6	-4.8	6	127	12.90	2.53	-6.28	0.000	18948	0.432	0.137	3077	982	3450	3469	3431	0	0	0	0	0	0	14.23	14.37	14.61
375	-0.82	-136.3	3077	978	3470	3436	63.4	-15.1	55	387	0.00	2.47	0.00	0.000	1030	0.000	0.099	3078	2405	3453	3471	3436	0	0	0	0	0	0	28.83	14.45	28.83
567	-0.80	-136.3	3077	2405	3471	3437	90.2	-13.1	74	576	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2406	3454	3472	3437	0	0	0	0	0	0	28.83	28.83	28.83
757	-0.78	-136.3	3077	2405	3473	3436	115.8	-13.3	93	767	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2405	3454	3472	3436	0	0	0	0	0	0	28.83	28.83	28.83
948	-0.77	-136.3	3077	2402	3472	3437	143.2	-14.1	112	958	0.12	0.00	0.00	0.000	2054	0.294	0.000	3111	2405	3453	3472	3434	0	0	0	0	0	0	14.45	28.83	28.83
1138	-0.77	-136.3	3110	2406	3472	3436	165.4	-11.0	131	1149	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2405	3454	3472	3436	0	0	0	0	0	0	28.83	28.83	28.83
1329	-0.77	-136.3	3111	2405	3476	3436	186.1	-10.3	150	1337	0.00	2.47	0.00	0.000	516	0.000	0.111	3111	986	3454	3472	3436	0	0	0	0	0	0	28.83	14.54	28.83
1383	-0.77	-136.3	3111	986	3471	3437	191.7	-10.7	159	1395	0.00	2.45	0.00	0.000	1030	0.000	0.100	3112	2399	3454	3472	3437	0	0	0	0	0	0	28.83	14.55	28.83
1575	-0.77	-136.3	3111	2399	3472	3437	210.4	-10.0	178	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2399	3453	3470	3436	0	0	0	0	0	0	28.83	28.83	28.83
1765	-0.77	-136.3	3111	2399	3472	3436	229.7	-9.8	197	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2399	3454	3472	3436	0	0	0	0	0	0	28.83	28.83	28.83
1957	-0.77	-136.3	3111	2400	3472	3436	247.5	-9.4	216	1966	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2401	3454	3472	3436	0	0	0	0	0	0	28.83	28.83	28.83
2167	-0.77	-136.3	3110	2399	3472	3434	266.2	-8.6	225	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2399	3452	3469	3436	0	0	0	0	0	0	28.83	28.83	28.83
2467	-0.77	-136.3	3111	2399	3467	3436	294.2	-9.7	235	2470	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2399	3454	3472	3436	0	0	0	0	0	0	28.83	28.83	28.83
2767	-0.77	-136.3	3111	2397	3472	3434	322.7	-8.9	245	2776	0.00	2.47	0.00	0.000	516	0.000	0.117	3111	987	3453	3472	3435	0	0	0	0	0	0	28.83	14.58	28.83
2831	-0.77	-136.3	3112	987	3479	3434	328.7	-9.7	256	2841	0.00	2.47	0.00	0.000	1030	0.000	0.105	3108	2405	3453	3472	3434	0	0	0	0	0	0	28.83	14.59	28.83
3139	-0.77	-136.3	3111	2405	3471	3432	355.8	-8.8	267	3143	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2406	3453	3475	3432	0	0	0	0	0	0	28.83	28.83	28.83
3433	end dive: TARGET_DEPTH_EXCEEDED
state	3433	begin apogee
3442	-0.32	0.0	3111	2702	3472	3431	382.0	-9.5	277	3556	0.50	0.00	106.15	1.173	10246	0.213	0.000	3257	2702	2893	2964	2822	0	0	0	0	0	0	14.53	28.83	13.62
3560	end apogee: CONTROL_FINISHED_OK
state	3560	begin climb
3564	0.85	136.3	3257	2702	2957	2821	387.0	0.0	281	3694	1.20	2.47	109.78	1.139	10500	0.167	0.128	3626	4008	2333	2479	2188	0	0	0	0	0	0	14.04	13.83	13.42
3724	0.79	136.3	3625	4005	2477	2188	375.3	15.3	305	3735	0.00	2.40	0.00	0.000	1030	0.000	0.116	3627	2708	2333	2478	2188	0	0	0	0	0	0	28.83	13.95	28.83
4066	0.74	136.3	3627	2705	2477	2182	325.4	13.9	321	4077	0.00	2.67	0.00	0.000	516	0.000	0.151	3631	1285	2329	2477	2182	0	0	0	0	0	0	28.83	14.28	28.83
4241	0.69	136.3	3630	1284	2476	2181	302.0	13.8	353	4253	0.17	2.60	0.00	0.000	5126	0.321	0.122	3590	2704	2328	2476	2181	0	0	0	0	0	0	14.31	14.39	28.83
4574	0.66	136.3	3590	2701	2476	2179	262.0	11.6	367	4586	0.00	2.65	0.00	0.000	516	0.000	0.151	3596	1280	2329	2479	2179	0	0	0	0	0	0	28.83	14.43	28.83
4648	0.62	136.3	3595	1280	2476	2179	254.1	10.8	379	4662	0.15	2.58	0.00	0.000	5126	0.305	0.121	3564	2709	2327	2476	2179	0	0	0	0	0	0	14.41	14.48	28.83
4973	0.62	160.5	3564	2704	2475	2177	225.0	8.7	413	5002	0.00	2.75	18.98	0.992	8708	0.000	0.151	3564	1278	2235	2392	2079	0	0	0	0	0	0	28.83	14.39	14.07
5095	0.61	164.0	3564	1278	2392	2081	213.6	9.8	433	5113	0.00	2.55	3.22	0.683	9222	0.000	0.118	3565	2696	2228	2388	2069	0	0	0	0	0	0	28.83	14.45	13.95
5294	0.59	165.8	3570	2697	2382	2075	193.1	9.9	453	5306	0.00	0.00	3.03	0.645	8198	0.000	0.000	3560	2696	2216	2374	2059	0	0	0	0	0	0	28.83	28.83	13.98
5488	0.57	165.8	3564	2696	2374	2062	173.0	10.5	472	5499	0.00	2.62	0.00	0.000	516	0.000	0.151	3564	1285	2220	2374	2066	0	0	0	0	0	0	28.83	14.44	28.83
5586	0.57	176.9	3564	1285	2374	2061	163.2	9.4	488	5610	0.00	2.53	11.80	0.934	9222	0.000	0.117	3564	2698	2165	2322	2009	0	0	0	0	0	0	28.83	14.49	14.09
5801	0.55	176.9	3564	2698	2327	2009	141.1	10.0	510	5812	0.00	0.00	0.00	0.000	6	0.000	0.000	3564	2697	2168	2327	2009	0	0	0	0	0	0	28.83	28.83	28.83
5993	0.53	176.9	3564	2697	2327	2008	121.6	10.3	529	6005	0.12	0.00	0.00	0.000	4102	0.281	0.000	3531	2697	2167	2327	2008	0	0	0	0	0	0	14.45	28.83	28.83
6187	0.54	187.8	3530	2697	2327	2007	102.9	9.4	548	6210	0.00	2.62	10.07	0.871	8708	0.000	0.134	3532	1288	2124	2285	1963	0	0	0	0	0	0	28.83	14.45	14.14
6313	0.54	187.8	3533	1288	2289	1963	89.6	10.6	569	6325	0.00	2.53	0.00	0.000	1030	0.000	0.112	3532	2705	2123	2284	1963	0	0	0	0	0	0	28.83	14.52	28.83
6507	0.56	207.3	3532	2704	2284	1962	71.2	9.0	588	6539	0.00	2.67	16.52	0.830	8708	0.000	0.150	3533	1283	2045	2209	1882	0	0	0	0	0	0	28.83	14.38	14.13
6665	0.58	232.6	3532	1282	2209	1882	57.2	8.7	615	6696	0.00	2.53	20.23	0.803	9222	0.000	0.112	3532	2697	1942	2097	1788	0	0	0	0	0	0	28.83	14.46	14.09
6887	0.65	295.1	3533	2696	2094	1788	40.9	6.7	638	6947	0.12	2.65	47.08	0.756	10756	0.172	0.134	3587	1280	1684	1851	1518	0	0	0	0	0	0	14.47	14.23	14.00
7166	0.70	351.3	3587	1280	1850	1519	16.3	7.0	685	7205	0.00	2.55	26.23	0.171	9222	0.000	0.108	3587	2708	1460	1622	1298	0	0	0	0	0	0	28.83	14.36	14.33
7292	end climb: SURFACE_DEPTH_REACHED
state	7292	begin surface coast
7333	end surface coast: CONTROL_FINISHED_OK
state	7333	begin surface