Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 448 * 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 448 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 76 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 48 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 -194768.72 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 -194768.72

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 76 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 48 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 448 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 151213,060535,4749.463,-12516.049,33,0.9,33,17.2 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.930,-12510.270

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,061247,4749.500,-12516.019,16,1.5,16,17.2 MHEAD_RNG_PITCHd_Wd 74.3,8442,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.8,1.024303 _24V_AH 23.9,47.505

SM_CCo 8153,81.20,0.057,0,0,1479,375.06 _10V_AH 9.5,47.900

SM_GC 2.72,8.88,0.35,81.20,0.048,0.051,0.057,337,2303,1479,-8.87,-1.61,375.06,0,0,0,0,0,0,25.98,26.17,25.86 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12521.83,151213,030323 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 258748

HUMID 55.55 DATA_FILE_SIZE 16824,487

INTERNAL_PRESSURE 9.00425 CAP_FILE_SIZE 109036,0

TCM_TEMP 18.30 CFSIZE 260034560,205045760

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

SC_FREEKB 3794816 CURRENT 0.112,346.8,1

PM_FREEKB 2812432 GPS 151213,083130,4749.843,-12514.893,13,1.1,13,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 240 124.01 nil 0 0 0.00

Roll_motor 58 58 81.84 nil 0 0 0.00

VBD_pump_during_apogee 336 780 6269.38 nil 0 0 0.00

VBD_pump_during_surface 81 57 111.35 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 8138 4 928.73

Iridium_during_xfer 219 123 649.48 PMAR 3952 9 851.96

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.00

TT8 1417 11 158.27

LPSleep 4979 2 103.60

TT8_Active 458 11 51.14

TT8_Sampling 1439 38 529.52

TT8_CF8 368 49 172.16

TT8_Kalman 0 0 0.00

Analog_circuits 1423 15 216.04

GPS_charging 0 0 0.00

Compass 1052 7 74.90

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.11 -107.1 334 2328 1538 1387 0.0 0.0 0 77 0.00 0.00 -47.88 0.000 16386 0.000 0.000 333 2329 2728 2757 2699 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.11 -107.1 333 2329 2760 2703 3.3 -2.1 8 121 10.20 1.95 -19.52 0.000 18692 0.240 0.058 2827 3600 3450 3491 3410 0 0 0 0 0 0 25.28 25.89 26.40

353 -1.11 -107.1 2827 3600 3497 3415 52.3 -19.5 43 361 0.00 1.85 0.00 0.000 1030 0.000 0.025 2834 2290 3456 3497 3415 0 0 0 0 0 0 28.83 26.18 28.83

659 -1.11 -107.1 2834 2290 3499 3416 94.1 -12.3 59 666 0.00 1.98 0.00 0.000 260 0.000 0.043 2827 3595 3457 3499 3416 0 0 0 0 0 0 28.83 26.01 28.83

725 -1.11 -107.1 2826 3595 3498 3416 102.8 -13.1 62 732 0.00 1.83 0.00 0.000 1030 0.000 0.025 2834 2295 3457 3499 3416 0 0 0 0 0 0 28.83 26.29 28.83

1051 -1.11 -107.1 2834 2296 3499 3415 144.8 -12.6 78 1053 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2296 3458 3500 3416 0 0 0 0 0 0 28.83 28.83 28.83

1353 -1.11 -107.1 2834 2296 3500 3415 182.6 -12.6 93 1360 0.00 2.10 0.00 0.000 516 0.000 0.031 2838 912 3458 3500 3416 0 0 0 0 0 0 28.83 26.20 28.83

1394 -1.11 -107.1 2838 912 3502 3416 186.3 -12.8 94 1403 0.00 2.12 0.00 0.000 1030 0.000 0.031 2831 2307 3458 3500 3416 0 0 0 0 0 0 28.83 26.22 28.83

1699 -1.11 -107.1 2830 2307 3500 3416 227.1 -12.1 110 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2307 3458 3500 3416 0 0 0 0 0 0 28.83 28.83 28.83

2003 -1.11 -107.1 2830 2307 3501 3416 264.7 -12.7 125 2010 0.00 2.10 0.00 0.000 516 0.000 0.030 2832 916 3458 3501 3415 0 0 0 0 0 0 28.83 26.25 28.83

2029 -1.11 -107.1 2832 916 3501 3416 268.3 -12.6 126 2036 0.00 2.12 0.00 0.000 1030 0.000 0.031 2825 2307 3458 3501 3416 0 0 0 0 0 0 28.83 26.26 28.83

2355 -1.11 -107.1 2825 2307 3501 3416 309.6 -12.8 142 2362 0.00 2.10 0.00 0.000 516 0.000 0.029 2825 916 3458 3501 3416 0 0 0 0 0 0 28.83 26.26 28.83

2390 -1.11 -107.1 2825 916 3501 3416 313.1 -13.1 143 2397 0.00 2.10 0.00 0.000 1030 0.000 0.031 2817 2301 3458 3501 3416 0 0 0 0 0 0 28.83 26.27 28.83

2707 -1.11 -107.1 2816 2300 3501 3416 355.2 -12.2 159 2713 0.00 1.90 0.00 0.000 260 0.000 0.044 2807 3579 3458 3500 3417 0 0 0 0 0 0 28.83 26.10 28.83

2743 -1.11 -107.1 2807 3579 3500 3416 358.6 -12.3 160 2751 0.12 1.80 0.00 0.000 3078 0.173 0.026 2840 2297 3458 3500 3416 0 0 0 0 0 0 25.94 26.43 28.83

3060 -1.11 -107.1 2840 2297 3501 3416 392.8 -9.3 176 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2297 3459 3502 3416 0 0 0 0 0 0 28.83 28.83 28.83

3363 -1.11 -107.1 2840 2297 3500 3416 424.8 -11.2 191 3370 0.00 2.08 0.00 0.000 516 0.000 0.031 2850 916 3458 3501 3416 0 0 0 0 0 0 28.83 26.26 28.83

3430 -1.11 -107.1 2849 916 3500 3417 432.8 -11.6 194 3437 0.00 2.12 0.00 0.000 1030 0.000 0.031 2842 2308 3458 3500 3416 0 0 0 0 0 0 28.83 26.27 28.83

3713 end dive: TARGET_DEPTH_EXCEEDED

state 3714 begin apogee

3721 -0.25 0.0 2841 2026 3500 3416 463.1 -10.0 208 3869 0.85 0.00 137.43 0.780 10246 0.133 0.000 3111 2024 3009 3097 2921 0 0 0 0 0 0 25.33 28.83 24.32

3871 end apogee: CONTROL_FINISHED_OK

state 3871 begin climb

3875 1.11 107.1 3110 2025 3089 2913 466.5 0.0 215 4027 1.27 2.30 132.35 0.763 10756 0.081 0.033 3563 650 2563 2661 2466 0 0 0 0 0 0 25.18 24.76 23.93

4132 1.11 107.1 3563 650 2650 2462 441.5 13.0 228 4143 0.00 2.22 0.00 0.000 1030 0.000 0.030 3563 2029 2555 2649 2462 0 0 0 0 0 0 28.83 25.47 28.83

4462 1.11 107.1 3563 2029 2645 2458 400.2 12.0 244 4473 0.00 2.22 0.00 0.000 516 0.000 0.034 3572 633 2552 2646 2458 0 0 0 0 0 0 28.83 25.95 28.83

4521 1.11 107.1 3572 633 2645 2458 393.9 12.5 246 4532 0.00 2.17 0.00 0.000 1030 0.000 0.029 3572 2033 2551 2645 2458 0 0 0 0 0 0 28.83 26.04 28.83

4841 1.11 107.1 3572 2031 2643 2456 354.3 11.6 262 4852 0.00 0.00 0.00 0.000 6 0.000 0.000 3572 2031 2549 2643 2456 0 0 0 0 0 0 28.83 28.83 28.83

5141 1.11 107.1 3571 2031 2640 2454 318.2 11.9 277 5152 0.00 2.10 0.00 0.000 260 0.000 0.041 3572 3422 2547 2641 2454 0 0 0 0 0 0 28.83 26.08 28.83

5180 1.11 107.1 3572 3422 2640 2454 314.4 12.0 278 5191 0.00 2.03 0.00 0.000 1030 0.000 0.025 3581 2024 2547 2640 2454 0 0 0 0 0 0 28.83 26.31 28.83

5501 1.11 107.1 3581 2024 2640 2453 273.9 12.3 294 5512 0.00 2.12 0.00 0.000 516 0.000 0.034 3591 640 2546 2640 2453 0 0 0 0 0 0 28.83 26.18 28.83

5560 1.11 107.1 3591 641 2640 2453 267.9 12.3 296 5572 0.12 2.15 0.00 0.000 5126 0.164 0.030 3559 2034 2546 2640 2453 0 0 0 0 0 0 25.88 26.25 28.83

5881 1.11 107.1 3558 2033 2639 2453 229.5 11.5 312 5892 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2033 2546 2640 2453 0 0 0 0 0 0 28.83 28.83 28.83

6181 1.11 107.1 3559 2033 2640 2452 194.1 12.1 327 6191 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2033 2546 2640 2452 0 0 0 0 0 0 28.83 28.83 28.83

6481 1.11 107.1 3559 2033 2639 2452 156.9 12.4 342 6492 0.00 2.17 0.00 0.000 516 0.000 0.034 3566 640 2545 2639 2452 0 0 0 0 0 0 28.83 26.21 28.83

6555 1.11 107.1 2768 640 2584 2443 148.5 12.2 345 6566 0.00 2.12 0.00 0.000 1030 0.000 0.030 3566 2022 2545 2638 2452 0 0 0 0 0 0 28.83 26.30 28.83

6881 1.11 107.1 3566 2022 2638 2452 110.6 10.7 361 6892 0.00 2.10 0.00 0.000 260 0.000 0.041 3565 3427 2545 2638 2452 0 0 0 0 0 0 28.83 26.14 28.83

7033 1.11 107.1 3566 3428 2638 2451 92.2 12.1 368 7045 0.00 2.03 0.00 0.000 1030 0.000 0.025 3576 2019 2544 2638 2451 0 0 0 0 0 0 28.83 26.43 28.83

7364 1.11 107.1 3576 2019 2638 2451 53.9 10.2 384 7374 0.00 0.00 0.00 0.000 6 0.000 0.000 3575 2019 2544 2638 2451 0 0 0 0 0 0 28.83 28.83 28.83

7665 1.23 146.4 3575 2019 2638 2451 30.7 6.1 411 7722 0.00 2.12 43.97 0.586 8708 0.000 0.032 3586 647 2409 2504 2315 0 0 0 0 0 0 28.83 26.05 25.24

7958 1.37 192.6 3585 647 2495 2312 15.6 5.7 457 7995 0.15 2.15 22.42 0.083 11270 0.090 0.029 3646 2039 2222 2323 2121 0 0 0 0 0 0 25.97 26.10 25.72

8089 end climb: SURFACE_DEPTH_REACHED

state 8090 begin surface coast

8128 end surface coast: CONTROL_FINISHED_OK

state 8128 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	448	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	76	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	48	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	-194768.72	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	151213,060535,4749.463,-12516.049,33,0.9,33,17.2	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.930,-12510.270
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,061247,4749.500,-12516.019,16,1.5,16,17.2	MHEAD_RNG_PITCHd_Wd	74.3,8442,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	462

FINISH	1.8,1.024303	_24V_AH	23.9,47.505
SM_CCo	8153,81.20,0.057,0,0,1479,375.06	_10V_AH	9.5,47.900
SM_GC	2.72,8.88,0.35,81.20,0.048,0.051,0.057,337,2303,1479,-8.87,-1.61,375.06,0,0,0,0,0,0,25.98,26.17,25.86	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12521.83,151213,030323	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	258748
HUMID	55.55	DATA_FILE_SIZE	16824,487
INTERNAL_PRESSURE	9.00425	CAP_FILE_SIZE	109036,0
TCM_TEMP	18.30	CFSIZE	260034560,205045760
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3794816	CURRENT	0.112,346.8,1
PM_FREEKB	2812432	GPS	151213,083130,4749.843,-12514.893,13,1.1,13,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	240	124.01	nil	0	0	0.00
Roll_motor	58	58	81.84	nil	0	0	0.00
VBD_pump_during_apogee	336	780	6269.38	nil	0	0	0.00
VBD_pump_during_surface	81	57	111.35	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	8138	4	928.73
Iridium_during_xfer	219	123	649.48	PMAR	3952	9	851.96
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.00
TT8	1417	11	158.27
LPSleep	4979	2	103.60
TT8_Active	458	11	51.14
TT8_Sampling	1439	38	529.52
TT8_CF8	368	49	172.16
TT8_Kalman	0	0	0.00
Analog_circuits	1423	15	216.04
GPS_charging	0	0	0.00
Compass	1052	7	74.90
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.11	-107.1	334	2328	1538	1387	0.0	0.0	0	77	0.00	0.00	-47.88	0.000	16386	0.000	0.000	333	2329	2728	2757	2699	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.11	-107.1	333	2329	2760	2703	3.3	-2.1	8	121	10.20	1.95	-19.52	0.000	18692	0.240	0.058	2827	3600	3450	3491	3410	0	0	0	0	0	0	25.28	25.89	26.40
353	-1.11	-107.1	2827	3600	3497	3415	52.3	-19.5	43	361	0.00	1.85	0.00	0.000	1030	0.000	0.025	2834	2290	3456	3497	3415	0	0	0	0	0	0	28.83	26.18	28.83
659	-1.11	-107.1	2834	2290	3499	3416	94.1	-12.3	59	666	0.00	1.98	0.00	0.000	260	0.000	0.043	2827	3595	3457	3499	3416	0	0	0	0	0	0	28.83	26.01	28.83
725	-1.11	-107.1	2826	3595	3498	3416	102.8	-13.1	62	732	0.00	1.83	0.00	0.000	1030	0.000	0.025	2834	2295	3457	3499	3416	0	0	0	0	0	0	28.83	26.29	28.83
1051	-1.11	-107.1	2834	2296	3499	3415	144.8	-12.6	78	1053	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2296	3458	3500	3416	0	0	0	0	0	0	28.83	28.83	28.83
1353	-1.11	-107.1	2834	2296	3500	3415	182.6	-12.6	93	1360	0.00	2.10	0.00	0.000	516	0.000	0.031	2838	912	3458	3500	3416	0	0	0	0	0	0	28.83	26.20	28.83
1394	-1.11	-107.1	2838	912	3502	3416	186.3	-12.8	94	1403	0.00	2.12	0.00	0.000	1030	0.000	0.031	2831	2307	3458	3500	3416	0	0	0	0	0	0	28.83	26.22	28.83
1699	-1.11	-107.1	2830	2307	3500	3416	227.1	-12.1	110	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2307	3458	3500	3416	0	0	0	0	0	0	28.83	28.83	28.83
2003	-1.11	-107.1	2830	2307	3501	3416	264.7	-12.7	125	2010	0.00	2.10	0.00	0.000	516	0.000	0.030	2832	916	3458	3501	3415	0	0	0	0	0	0	28.83	26.25	28.83
2029	-1.11	-107.1	2832	916	3501	3416	268.3	-12.6	126	2036	0.00	2.12	0.00	0.000	1030	0.000	0.031	2825	2307	3458	3501	3416	0	0	0	0	0	0	28.83	26.26	28.83
2355	-1.11	-107.1	2825	2307	3501	3416	309.6	-12.8	142	2362	0.00	2.10	0.00	0.000	516	0.000	0.029	2825	916	3458	3501	3416	0	0	0	0	0	0	28.83	26.26	28.83
2390	-1.11	-107.1	2825	916	3501	3416	313.1	-13.1	143	2397	0.00	2.10	0.00	0.000	1030	0.000	0.031	2817	2301	3458	3501	3416	0	0	0	0	0	0	28.83	26.27	28.83
2707	-1.11	-107.1	2816	2300	3501	3416	355.2	-12.2	159	2713	0.00	1.90	0.00	0.000	260	0.000	0.044	2807	3579	3458	3500	3417	0	0	0	0	0	0	28.83	26.10	28.83
2743	-1.11	-107.1	2807	3579	3500	3416	358.6	-12.3	160	2751	0.12	1.80	0.00	0.000	3078	0.173	0.026	2840	2297	3458	3500	3416	0	0	0	0	0	0	25.94	26.43	28.83
3060	-1.11	-107.1	2840	2297	3501	3416	392.8	-9.3	176	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2297	3459	3502	3416	0	0	0	0	0	0	28.83	28.83	28.83
3363	-1.11	-107.1	2840	2297	3500	3416	424.8	-11.2	191	3370	0.00	2.08	0.00	0.000	516	0.000	0.031	2850	916	3458	3501	3416	0	0	0	0	0	0	28.83	26.26	28.83
3430	-1.11	-107.1	2849	916	3500	3417	432.8	-11.6	194	3437	0.00	2.12	0.00	0.000	1030	0.000	0.031	2842	2308	3458	3500	3416	0	0	0	0	0	0	28.83	26.27	28.83
3713	end dive: TARGET_DEPTH_EXCEEDED
state	3714	begin apogee
3721	-0.25	0.0	2841	2026	3500	3416	463.1	-10.0	208	3869	0.85	0.00	137.43	0.780	10246	0.133	0.000	3111	2024	3009	3097	2921	0	0	0	0	0	0	25.33	28.83	24.32
3871	end apogee: CONTROL_FINISHED_OK
state	3871	begin climb
3875	1.11	107.1	3110	2025	3089	2913	466.5	0.0	215	4027	1.27	2.30	132.35	0.763	10756	0.081	0.033	3563	650	2563	2661	2466	0	0	0	0	0	0	25.18	24.76	23.93
4132	1.11	107.1	3563	650	2650	2462	441.5	13.0	228	4143	0.00	2.22	0.00	0.000	1030	0.000	0.030	3563	2029	2555	2649	2462	0	0	0	0	0	0	28.83	25.47	28.83
4462	1.11	107.1	3563	2029	2645	2458	400.2	12.0	244	4473	0.00	2.22	0.00	0.000	516	0.000	0.034	3572	633	2552	2646	2458	0	0	0	0	0	0	28.83	25.95	28.83
4521	1.11	107.1	3572	633	2645	2458	393.9	12.5	246	4532	0.00	2.17	0.00	0.000	1030	0.000	0.029	3572	2033	2551	2645	2458	0	0	0	0	0	0	28.83	26.04	28.83
4841	1.11	107.1	3572	2031	2643	2456	354.3	11.6	262	4852	0.00	0.00	0.00	0.000	6	0.000	0.000	3572	2031	2549	2643	2456	0	0	0	0	0	0	28.83	28.83	28.83
5141	1.11	107.1	3571	2031	2640	2454	318.2	11.9	277	5152	0.00	2.10	0.00	0.000	260	0.000	0.041	3572	3422	2547	2641	2454	0	0	0	0	0	0	28.83	26.08	28.83
5180	1.11	107.1	3572	3422	2640	2454	314.4	12.0	278	5191	0.00	2.03	0.00	0.000	1030	0.000	0.025	3581	2024	2547	2640	2454	0	0	0	0	0	0	28.83	26.31	28.83
5501	1.11	107.1	3581	2024	2640	2453	273.9	12.3	294	5512	0.00	2.12	0.00	0.000	516	0.000	0.034	3591	640	2546	2640	2453	0	0	0	0	0	0	28.83	26.18	28.83
5560	1.11	107.1	3591	641	2640	2453	267.9	12.3	296	5572	0.12	2.15	0.00	0.000	5126	0.164	0.030	3559	2034	2546	2640	2453	0	0	0	0	0	0	25.88	26.25	28.83
5881	1.11	107.1	3558	2033	2639	2453	229.5	11.5	312	5892	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2033	2546	2640	2453	0	0	0	0	0	0	28.83	28.83	28.83
6181	1.11	107.1	3559	2033	2640	2452	194.1	12.1	327	6191	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2033	2546	2640	2452	0	0	0	0	0	0	28.83	28.83	28.83
6481	1.11	107.1	3559	2033	2639	2452	156.9	12.4	342	6492	0.00	2.17	0.00	0.000	516	0.000	0.034	3566	640	2545	2639	2452	0	0	0	0	0	0	28.83	26.21	28.83
6555	1.11	107.1	2768	640	2584	2443	148.5	12.2	345	6566	0.00	2.12	0.00	0.000	1030	0.000	0.030	3566	2022	2545	2638	2452	0	0	0	0	0	0	28.83	26.30	28.83
6881	1.11	107.1	3566	2022	2638	2452	110.6	10.7	361	6892	0.00	2.10	0.00	0.000	260	0.000	0.041	3565	3427	2545	2638	2452	0	0	0	0	0	0	28.83	26.14	28.83
7033	1.11	107.1	3566	3428	2638	2451	92.2	12.1	368	7045	0.00	2.03	0.00	0.000	1030	0.000	0.025	3576	2019	2544	2638	2451	0	0	0	0	0	0	28.83	26.43	28.83
7364	1.11	107.1	3576	2019	2638	2451	53.9	10.2	384	7374	0.00	0.00	0.00	0.000	6	0.000	0.000	3575	2019	2544	2638	2451	0	0	0	0	0	0	28.83	28.83	28.83
7665	1.23	146.4	3575	2019	2638	2451	30.7	6.1	411	7722	0.00	2.12	43.97	0.586	8708	0.000	0.032	3586	647	2409	2504	2315	0	0	0	0	0	0	28.83	26.05	25.24
7958	1.37	192.6	3585	647	2495	2312	15.6	5.7	457	7995	0.15	2.15	22.42	0.083	11270	0.090	0.029	3646	2039	2222	2323	2121	0	0	0	0	0	0	25.97	26.10	25.72
8089	end climb: SURFACE_DEPTH_REACHED
state	8090	begin surface coast
8128	end surface coast: CONTROL_FINISHED_OK
state	8128	begin surface