Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 428 * 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 428 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 2200 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2325 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 4 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 29 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 3 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 470 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 520 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 -1588527.1 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 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 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 470

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 -1588527.1

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 520

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 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 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 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 29 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 428 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 4 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 3 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 281212,091436,4749.200,-12514.151,31,1.5,31,18.7 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.930,-12510.270

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.10 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -72.8 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 281212,092055,4749.296,-12514.233,14,1.5,14,18.7 MHEAD_RNG_PITCHd_Wd 71.6,6932,-13.3,-7.021,-18.50

SPEED_LIMITS 0.122,0.210 D_GRID 418

Post-dive calculations and measurements:

FINISH 1.3,1.011589 _10V_AH 9.8,48.435

SM_CCo 9979,0.00,0.000,0,0,1354,353.23 FG_AHR_24Vo 0.000

SM_GC 2.32,8.25,2.08,0.00,0.030,0.054,0.000,112,2205,1354,-9.47,-0.59,353.23,0,0,0,0,0,0,26.10,25.77,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12515.52,281212,050531 MEM 296920

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 43557,820

HUMID 45.51 CAP_FILE_SIZE 99610,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260165632,221937664

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 CURRENT 0.314,285.2,1

_24V_AH 23.5,59.767 GPS 281212,120905,4749.657,-12513.127,37,1.2,43,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 104.95 SBE_CT 560 24 316.26

Roll_motor 83 77 152.38 SBE_O2 519 19 232.08

VBD_pump_during_apogee 415 807 7889.49 WL_BBFL2VMT 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 26 103 63.22 nil 0 0 0.00

Iridium_during_connect 41 160 157.24 nil 0 0 0.00

Iridium_during_xfer 174 223 913.11 nil 0 0 0.00

Transponder_ping 0 420 2.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.30

TT8 2051 19 398.00

LPSleep 5922 2 127.10

TT8_Active 482 19 93.64

TT8_Sampling 1662 39 648.59

TT8_CF8 239 45 107.70

TT8_Kalman 0 0 0.00

Analog_circuits 1295 12 152.29

GPS_charging 0 0 0.00

Compass 1393 15 204.92

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.47 -136.3 0.0 0.0 0 87 0.00 0.00 -68.18 0.000 2 0.000 0.000 115 2207 2685 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.47 -136.3 3.1 -2.1 12 129 11.40 2.30 -16.05 0.000 4 0.213 0.073 3025 3604 3352 0 0 0 0 0 0 24.84 25.58 26.25

152 -0.47 -136.3 14.5 -16.1 22 160 0.00 2.20 0.00 0.000 6 0.000 0.043 3025 2191 3354 0 0 0 0 0 0 28.83 25.74 28.83

466 -0.47 -136.3 65.0 -15.1 83 472 0.00 2.15 0.00 0.000 4 0.000 0.049 3025 793 3355 0 0 0 0 0 0 28.83 25.72 28.83

515 -0.47 -136.3 72.8 -15.3 92 521 0.00 2.17 0.00 0.000 6 0.000 0.050 3016 2199 3355 0 0 0 0 0 0 28.83 25.75 28.83

826 -0.47 -136.3 114.3 -12.0 153 833 0.00 2.22 0.00 0.000 4 0.000 0.060 3005 3613 3354 0 0 0 0 0 0 28.83 25.69 28.83

922 -0.47 -136.3 125.1 -11.2 166 928 0.10 2.12 0.00 0.000 6 0.108 0.042 3041 2197 3355 0 0 0 0 0 0 25.69 25.92 28.83

1239 -0.47 -136.3 150.9 -7.8 187 1244 0.00 2.22 0.00 0.000 4 0.000 0.060 3033 3606 3355 0 0 0 0 0 0 28.83 25.72 28.83

1275 -0.47 -136.3 153.3 -7.7 189 1282 0.00 2.17 0.00 0.000 6 0.000 0.041 3032 2191 3356 0 0 0 0 0 0 28.83 25.95 28.83

1583 -0.47 -136.3 180.9 -9.1 210 1588 0.00 2.22 0.00 0.000 4 0.000 0.060 3022 3603 3355 0 0 0 0 0 0 28.83 25.73 28.83

1605 -0.47 -136.3 182.3 -9.2 211 1612 0.00 2.15 0.00 0.000 6 0.000 0.042 3022 2190 3355 0 0 0 0 0 0 28.83 25.95 28.83

1918 -0.47 -136.3 213.9 -9.5 230 1923 0.00 2.10 0.00 0.000 4 0.000 0.048 3022 806 3355 0 0 0 0 0 0 28.83 25.82 28.83

1939 -0.47 -136.3 215.9 -9.6 231 1943 0.00 2.15 0.00 0.000 6 0.000 0.049 3013 2201 3355 0 0 0 0 0 0 28.83 25.83 28.83

2253 -0.47 -136.3 248.5 -10.9 247 2258 0.00 2.20 0.00 0.000 4 0.000 0.061 3003 3605 3355 0 0 0 0 0 0 28.83 25.72 28.83

2293 -0.47 -136.3 253.0 -11.1 249 2298 0.10 2.12 0.00 0.000 6 0.103 0.042 3040 2199 3356 0 0 0 0 0 0 25.73 25.96 28.83

2612 -0.47 -136.3 280.0 -8.3 265 2618 0.00 2.25 0.00 0.000 4 0.000 0.061 3033 3609 3355 0 0 0 0 0 0 28.83 25.70 28.83

2655 -0.47 -136.3 283.4 -8.2 267 2659 0.00 2.15 0.00 0.000 6 0.000 0.043 3032 2201 3356 0 0 0 0 0 0 28.83 25.95 28.83

2968 -0.47 -136.3 310.2 -8.8 283 2969 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2198 3355 0 0 0 0 0 0 28.83 28.83 28.83

3267 -0.47 -136.3 336.4 -8.7 298 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2198 3356 0 0 0 0 0 0 28.83 28.83 28.83

3569 -0.47 -136.3 361.5 -8.2 313 3574 0.00 2.25 0.00 0.000 4 0.000 0.063 3023 3609 3355 0 0 0 0 0 0 28.83 25.69 28.83

3591 -0.47 -136.3 363.0 -8.1 314 3595 0.00 2.20 0.00 0.000 6 0.000 0.044 3022 2194 3355 0 0 0 0 0 0 28.83 25.93 28.83

3909 -0.47 -136.3 389.4 -8.6 330 3910 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2192 3354 0 0 0 0 0 0 28.83 28.83 28.83

4229 -0.47 -136.3 415.7 -8.6 343 4230 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2192 3354 0 0 0 0 0 0 28.83 28.83 28.83

4256 end dive: TARGET_DEPTH_EXCEEDED

state 4257 begin apogee

4264 -0.22 0.0 418.3 -8.6 344 4384 0.30 0.00 114.43 0.807 6 0.109 0.000 3125 2340 2793 0 0 0 0 0 0 25.75 28.83 23.85

4387 end apogee: CONTROL_FINISHED_OK

state 4387 begin climb

4390 0.47 136.3 422.6 0.0 348 4512 0.62 0.00 117.78 0.777 6 0.080 0.000 3344 2340 2237 0 0 0 0 0 0 24.96 28.83 23.50

4798 0.48 167.1 401.8 5.8 362 4831 0.00 2.35 26.00 0.759 4 0.000 0.051 3354 924 2111 0 0 0 0 0 0 28.83 25.32 24.17

4887 0.50 206.2 397.4 5.5 365 4926 0.00 2.22 33.38 0.765 6 0.000 0.051 3354 2327 1953 0 0 0 0 0 0 28.83 25.43 24.04

5237 0.50 220.4 374.1 6.5 383 5256 0.00 2.33 12.57 0.709 4 0.000 0.063 3354 3724 1894 0 0 0 0 0 0 28.83 25.58 24.34

5268 0.51 232.8 372.7 6.5 384 5286 0.00 2.20 12.20 0.700 6 0.000 0.046 3363 2328 1844 0 0 0 0 0 0 28.83 25.64 24.27

5595 0.51 232.8 348.2 7.2 401 5600 0.00 2.20 0.00 0.000 4 0.000 0.054 3372 924 1838 0 0 0 0 0 0 28.83 25.70 28.83

5648 0.51 232.8 345.3 7.0 403 5654 0.00 2.20 0.00 0.000 6 0.000 0.052 3372 2329 1837 0 0 0 0 0 0 28.83 25.72 28.83

5955 0.51 232.8 319.5 8.0 419 5956 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 2329 1837 0 0 0 0 0 0 28.83 28.83 28.83

6254 0.51 232.8 294.2 8.4 434 6256 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 2329 1836 0 0 0 0 0 0 28.83 28.83 28.83

6554 0.51 232.8 269.5 8.3 449 6556 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 2329 1835 0 0 0 0 0 0 28.83 28.83 28.83

6855 0.51 232.8 244.8 8.4 464 6861 0.00 2.22 0.00 0.000 4 0.000 0.054 3381 917 1835 0 0 0 0 0 0 28.83 25.81 28.83

6882 0.51 232.8 243.3 8.2 465 6886 0.00 2.20 0.00 0.000 6 0.000 0.053 3381 2329 1835 0 0 0 0 0 0 28.83 25.82 28.83

7189 0.51 232.8 215.8 8.8 480 7195 0.00 2.25 0.00 0.000 4 0.000 0.064 3381 3736 1835 0 0 0 0 0 0 28.83 25.73 28.83

7230 0.51 232.8 211.8 9.2 482 7235 0.00 2.15 0.00 0.000 6 0.000 0.047 3390 2339 1834 0 0 0 0 0 0 28.83 25.92 28.83

7549 0.51 232.8 181.9 9.2 501 7555 0.00 2.22 0.00 0.000 4 0.000 0.054 3399 913 1834 0 0 0 0 0 0 28.83 25.80 28.83

7642 0.51 232.8 173.9 8.9 507 7647 0.15 2.20 0.00 0.000 6 0.128 0.052 3355 2326 1834 0 0 0 0 0 0 25.68 25.82 28.83

7953 0.52 251.7 153.8 6.3 527 7971 0.00 0.00 16.20 0.624 6 0.000 0.000 3355 2326 1767 0 0 0 0 0 0 28.83 28.83 24.48

8265 0.53 295.0 135.7 5.3 548 8309 0.00 0.00 36.70 0.636 6 0.000 0.000 3355 2326 1590 0 0 0 0 0 0 28.83 28.83 24.49

8612 0.55 335.6 118.6 5.4 573 8653 0.00 2.25 33.47 0.615 4 0.000 0.052 3355 917 1425 0 0 0 0 0 0 28.83 25.50 24.49

8687 0.56 350.0 114.1 6.4 586 8706 0.00 2.22 13.25 0.574 6 0.000 0.050 3355 2335 1367 0 0 0 0 0 0 28.83 25.51 24.31

9011 0.56 350.0 84.9 9.2 649 9018 0.00 2.25 0.00 0.000 4 0.000 0.063 3353 3735 1361 0 0 0 0 0 0 28.83 25.60 28.83

9102 0.56 350.0 77.0 9.1 666 9109 0.00 2.20 0.00 0.000 6 0.000 0.044 3353 2312 1360 0 0 0 0 0 0 28.83 25.82 28.83

9414 0.56 350.0 45.2 8.8 727 9421 0.00 2.17 0.00 0.000 4 0.000 0.050 3353 914 1359 0 0 0 0 0 0 28.83 25.77 28.83

9464 0.56 350.0 40.5 9.4 736 9471 0.00 2.20 0.00 0.000 6 0.000 0.050 3353 2336 1358 0 0 0 0 0 0 28.83 25.79 28.83

9776 0.56 350.0 10.4 11.0 797 9783 0.00 2.20 0.00 0.000 4 0.000 0.050 3353 921 1358 0 0 0 0 0 0 28.83 25.82 28.83

9839 end climb: SURFACE_DEPTH_REACHED

state 9839 begin surface coast

9897 end surface coast: CONTROL_FINISHED_OK

state 9897 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	428	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	2200	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2325	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	4	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	29	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	3	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	470	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	520	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	-1588527.1	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	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	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	281212,091436,4749.200,-12514.151,31,1.5,31,18.7	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.930,-12510.270
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.10	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-72.8	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	281212,092055,4749.296,-12514.233,14,1.5,14,18.7	MHEAD_RNG_PITCHd_Wd	71.6,6932,-13.3,-7.021,-18.50
SPEED_LIMITS	0.122,0.210	D_GRID	418

FINISH	1.3,1.011589	_10V_AH	9.8,48.435
SM_CCo	9979,0.00,0.000,0,0,1354,353.23	FG_AHR_24Vo	0.000
SM_GC	2.32,8.25,2.08,0.00,0.030,0.054,0.000,112,2205,1354,-9.47,-0.59,353.23,0,0,0,0,0,0,26.10,25.77,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12515.52,281212,050531	MEM	296920
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	43557,820
HUMID	45.51	CAP_FILE_SIZE	99610,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260165632,221937664
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	CURRENT	0.314,285.2,1
_24V_AH	23.5,59.767	GPS	281212,120905,4749.657,-12513.127,37,1.2,43,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	104.95	SBE_CT	560	24	316.26
Roll_motor	83	77	152.38	SBE_O2	519	19	232.08
VBD_pump_during_apogee	415	807	7889.49	WL_BBFL2VMT	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	26	103	63.22	nil	0	0	0.00
Iridium_during_connect	41	160	157.24	nil	0	0	0.00
Iridium_during_xfer	174	223	913.11	nil	0	0	0.00
Transponder_ping	0	420	2.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.30
TT8	2051	19	398.00
LPSleep	5922	2	127.10
TT8_Active	482	19	93.64
TT8_Sampling	1662	39	648.59
TT8_CF8	239	45	107.70
TT8_Kalman	0	0	0.00
Analog_circuits	1295	12	152.29
GPS_charging	0	0	0.00
Compass	1393	15	204.92
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.47	-136.3	0.0	0.0	0	87	0.00	0.00	-68.18	0.000	2	0.000	0.000	115	2207	2685	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.47	-136.3	3.1	-2.1	12	129	11.40	2.30	-16.05	0.000	4	0.213	0.073	3025	3604	3352	0	0	0	0	0	0	24.84	25.58	26.25
152	-0.47	-136.3	14.5	-16.1	22	160	0.00	2.20	0.00	0.000	6	0.000	0.043	3025	2191	3354	0	0	0	0	0	0	28.83	25.74	28.83
466	-0.47	-136.3	65.0	-15.1	83	472	0.00	2.15	0.00	0.000	4	0.000	0.049	3025	793	3355	0	0	0	0	0	0	28.83	25.72	28.83
515	-0.47	-136.3	72.8	-15.3	92	521	0.00	2.17	0.00	0.000	6	0.000	0.050	3016	2199	3355	0	0	0	0	0	0	28.83	25.75	28.83
826	-0.47	-136.3	114.3	-12.0	153	833	0.00	2.22	0.00	0.000	4	0.000	0.060	3005	3613	3354	0	0	0	0	0	0	28.83	25.69	28.83
922	-0.47	-136.3	125.1	-11.2	166	928	0.10	2.12	0.00	0.000	6	0.108	0.042	3041	2197	3355	0	0	0	0	0	0	25.69	25.92	28.83
1239	-0.47	-136.3	150.9	-7.8	187	1244	0.00	2.22	0.00	0.000	4	0.000	0.060	3033	3606	3355	0	0	0	0	0	0	28.83	25.72	28.83
1275	-0.47	-136.3	153.3	-7.7	189	1282	0.00	2.17	0.00	0.000	6	0.000	0.041	3032	2191	3356	0	0	0	0	0	0	28.83	25.95	28.83
1583	-0.47	-136.3	180.9	-9.1	210	1588	0.00	2.22	0.00	0.000	4	0.000	0.060	3022	3603	3355	0	0	0	0	0	0	28.83	25.73	28.83
1605	-0.47	-136.3	182.3	-9.2	211	1612	0.00	2.15	0.00	0.000	6	0.000	0.042	3022	2190	3355	0	0	0	0	0	0	28.83	25.95	28.83
1918	-0.47	-136.3	213.9	-9.5	230	1923	0.00	2.10	0.00	0.000	4	0.000	0.048	3022	806	3355	0	0	0	0	0	0	28.83	25.82	28.83
1939	-0.47	-136.3	215.9	-9.6	231	1943	0.00	2.15	0.00	0.000	6	0.000	0.049	3013	2201	3355	0	0	0	0	0	0	28.83	25.83	28.83
2253	-0.47	-136.3	248.5	-10.9	247	2258	0.00	2.20	0.00	0.000	4	0.000	0.061	3003	3605	3355	0	0	0	0	0	0	28.83	25.72	28.83
2293	-0.47	-136.3	253.0	-11.1	249	2298	0.10	2.12	0.00	0.000	6	0.103	0.042	3040	2199	3356	0	0	0	0	0	0	25.73	25.96	28.83
2612	-0.47	-136.3	280.0	-8.3	265	2618	0.00	2.25	0.00	0.000	4	0.000	0.061	3033	3609	3355	0	0	0	0	0	0	28.83	25.70	28.83
2655	-0.47	-136.3	283.4	-8.2	267	2659	0.00	2.15	0.00	0.000	6	0.000	0.043	3032	2201	3356	0	0	0	0	0	0	28.83	25.95	28.83
2968	-0.47	-136.3	310.2	-8.8	283	2969	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2198	3355	0	0	0	0	0	0	28.83	28.83	28.83
3267	-0.47	-136.3	336.4	-8.7	298	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2198	3356	0	0	0	0	0	0	28.83	28.83	28.83
3569	-0.47	-136.3	361.5	-8.2	313	3574	0.00	2.25	0.00	0.000	4	0.000	0.063	3023	3609	3355	0	0	0	0	0	0	28.83	25.69	28.83
3591	-0.47	-136.3	363.0	-8.1	314	3595	0.00	2.20	0.00	0.000	6	0.000	0.044	3022	2194	3355	0	0	0	0	0	0	28.83	25.93	28.83
3909	-0.47	-136.3	389.4	-8.6	330	3910	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2192	3354	0	0	0	0	0	0	28.83	28.83	28.83
4229	-0.47	-136.3	415.7	-8.6	343	4230	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2192	3354	0	0	0	0	0	0	28.83	28.83	28.83
4256	end dive: TARGET_DEPTH_EXCEEDED
state	4257	begin apogee
4264	-0.22	0.0	418.3	-8.6	344	4384	0.30	0.00	114.43	0.807	6	0.109	0.000	3125	2340	2793	0	0	0	0	0	0	25.75	28.83	23.85
4387	end apogee: CONTROL_FINISHED_OK
state	4387	begin climb
4390	0.47	136.3	422.6	0.0	348	4512	0.62	0.00	117.78	0.777	6	0.080	0.000	3344	2340	2237	0	0	0	0	0	0	24.96	28.83	23.50
4798	0.48	167.1	401.8	5.8	362	4831	0.00	2.35	26.00	0.759	4	0.000	0.051	3354	924	2111	0	0	0	0	0	0	28.83	25.32	24.17
4887	0.50	206.2	397.4	5.5	365	4926	0.00	2.22	33.38	0.765	6	0.000	0.051	3354	2327	1953	0	0	0	0	0	0	28.83	25.43	24.04
5237	0.50	220.4	374.1	6.5	383	5256	0.00	2.33	12.57	0.709	4	0.000	0.063	3354	3724	1894	0	0	0	0	0	0	28.83	25.58	24.34
5268	0.51	232.8	372.7	6.5	384	5286	0.00	2.20	12.20	0.700	6	0.000	0.046	3363	2328	1844	0	0	0	0	0	0	28.83	25.64	24.27
5595	0.51	232.8	348.2	7.2	401	5600	0.00	2.20	0.00	0.000	4	0.000	0.054	3372	924	1838	0	0	0	0	0	0	28.83	25.70	28.83
5648	0.51	232.8	345.3	7.0	403	5654	0.00	2.20	0.00	0.000	6	0.000	0.052	3372	2329	1837	0	0	0	0	0	0	28.83	25.72	28.83
5955	0.51	232.8	319.5	8.0	419	5956	0.00	0.00	0.00	0.000	6	0.000	0.000	3372	2329	1837	0	0	0	0	0	0	28.83	28.83	28.83
6254	0.51	232.8	294.2	8.4	434	6256	0.00	0.00	0.00	0.000	6	0.000	0.000	3372	2329	1836	0	0	0	0	0	0	28.83	28.83	28.83
6554	0.51	232.8	269.5	8.3	449	6556	0.00	0.00	0.00	0.000	6	0.000	0.000	3372	2329	1835	0	0	0	0	0	0	28.83	28.83	28.83
6855	0.51	232.8	244.8	8.4	464	6861	0.00	2.22	0.00	0.000	4	0.000	0.054	3381	917	1835	0	0	0	0	0	0	28.83	25.81	28.83
6882	0.51	232.8	243.3	8.2	465	6886	0.00	2.20	0.00	0.000	6	0.000	0.053	3381	2329	1835	0	0	0	0	0	0	28.83	25.82	28.83
7189	0.51	232.8	215.8	8.8	480	7195	0.00	2.25	0.00	0.000	4	0.000	0.064	3381	3736	1835	0	0	0	0	0	0	28.83	25.73	28.83
7230	0.51	232.8	211.8	9.2	482	7235	0.00	2.15	0.00	0.000	6	0.000	0.047	3390	2339	1834	0	0	0	0	0	0	28.83	25.92	28.83
7549	0.51	232.8	181.9	9.2	501	7555	0.00	2.22	0.00	0.000	4	0.000	0.054	3399	913	1834	0	0	0	0	0	0	28.83	25.80	28.83
7642	0.51	232.8	173.9	8.9	507	7647	0.15	2.20	0.00	0.000	6	0.128	0.052	3355	2326	1834	0	0	0	0	0	0	25.68	25.82	28.83
7953	0.52	251.7	153.8	6.3	527	7971	0.00	0.00	16.20	0.624	6	0.000	0.000	3355	2326	1767	0	0	0	0	0	0	28.83	28.83	24.48
8265	0.53	295.0	135.7	5.3	548	8309	0.00	0.00	36.70	0.636	6	0.000	0.000	3355	2326	1590	0	0	0	0	0	0	28.83	28.83	24.49
8612	0.55	335.6	118.6	5.4	573	8653	0.00	2.25	33.47	0.615	4	0.000	0.052	3355	917	1425	0	0	0	0	0	0	28.83	25.50	24.49
8687	0.56	350.0	114.1	6.4	586	8706	0.00	2.22	13.25	0.574	6	0.000	0.050	3355	2335	1367	0	0	0	0	0	0	28.83	25.51	24.31
9011	0.56	350.0	84.9	9.2	649	9018	0.00	2.25	0.00	0.000	4	0.000	0.063	3353	3735	1361	0	0	0	0	0	0	28.83	25.60	28.83
9102	0.56	350.0	77.0	9.1	666	9109	0.00	2.20	0.00	0.000	6	0.000	0.044	3353	2312	1360	0	0	0	0	0	0	28.83	25.82	28.83
9414	0.56	350.0	45.2	8.8	727	9421	0.00	2.17	0.00	0.000	4	0.000	0.050	3353	914	1359	0	0	0	0	0	0	28.83	25.77	28.83
9464	0.56	350.0	40.5	9.4	736	9471	0.00	2.20	0.00	0.000	6	0.000	0.050	3353	2336	1358	0	0	0	0	0	0	28.83	25.79	28.83
9776	0.56	350.0	10.4	11.0	797	9783	0.00	2.20	0.00	0.000	4	0.000	0.050	3353	921	1358	0	0	0	0	0	0	28.83	25.82	28.83
9839	end climb: SURFACE_DEPTH_REACHED
state	9839	begin surface coast
9897	end surface coast: CONTROL_FINISHED_OK
state	9897	begin surface