Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 546 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

DIVE 546 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 24 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 ALTIM_SENSITIVITY 3

D_SURF 4 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_VALID 1

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_TGT 990 SM_CC 400 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1020 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.69999999

D_NO_BLEED 200 FILEMGR 0 VBD_MIN 470 DEEPGLIDER 0

D_BOOST 20 CALL_NDIVES 1 VBD_MAX 3900 MOTHERBOARD 4

T_BOOST 5 COMM_SEQ 0 C_VBD 2941 DEVICE1 -1

D_FINISH 0 PROTOCOL 8 VBD_DBAND 2 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00050000002 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_DIVE 450 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

T_MISSION 570 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN 225 T_GPS 5 W_ADJ_DBAND 2 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 N_GPS 100440 DBDW 0 COMPASS2_DEVICE 149

T_NO_W 120 T_RSLEEP 2 PITCH_W_GAIN 2 PHONE_DEVICE 49

T_LOITER 0 STROBE 0 PITCH_W_DBAND 0.5 GPS_DEVICE 64

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 100 MINV_24V 10 SIM_PITCH 0

D_OFFGRID 1000 PITCH_MAX 3850 MINV_10V 10 SEABIRD_T_G 0.0043979231

T_WATCHDOG 10 C_PITCH 3394 MAXI_24V 0.60000002 SEABIRD_T_H 0.00063691288

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.4734132e-05

APOGEE_PITCH -7 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 2.9167527e-06

MAX_BUOY 110 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -9.67243

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1076213

GLIDE_SLOPE 30 PITCH_GAIN 44 PRESSURE_YINT -164.55209 SEABIRD_C_I -0.0017588359

SPEED_FACTOR 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001068 SEABIRD_C_J 0.00021615655

RHO 1.0275 PITCH_AD_RATE 165 AD7714Ch0Gain 1 SC_RECORDABOVE 2000.0

MASS 53572 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MIN 440 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

KALMAN_USE 2 ROLL_MAX 4000 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 1.0

HD_A 0.0026964601 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099003203 C_ROLL_DIVE 1970 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_C 2.26204e-06 C_ROLL_CLIMB 2250 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

AD7714Ch0Gain 1 D_SURF 4 PITCH_AD_RATE 165 SEABIRD_T_H 0.00063691288

AH0_10V 0 D_TGT 990 PITCH_CNV 0.003125763 SEABIRD_T_I 2.4734132e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.9167527e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 44 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3850 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_MIN 100 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00050000002 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0026964601 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099003203 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -7 HD_C 2.26204e-06 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEADING -1 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEAD_ERRBAND 10 PM_XMITPROFILE 1.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAPDBG 0 PM_XMITRAW 0.0 T_ABORT 1440

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001068 T_BOOST 5

CAPUPLOAD 0 ID 187 PRESSURE_YINT -164.55209 T_DIVE 450

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 8 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RAFOS_CORR_THRESH 60 T_MISSION 570

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_PITCH 3394 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2250 LOGGERS 3 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 1970 MASS 53572 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 110 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 10 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 10 ROLL_MAX 4000 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 8 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3900

DIVE 546 NOCOMM_ACTION 161 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 15 VBD_MIN 470

D_BOOST 20 N_FILEKB 4 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.67243 W_ADJ_DBAND 2

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_H 1.1076213 XPDR_DEVICE 24

D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017588359 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00021615655 XPDR_VALID 1

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043979231

Pre-dive calculations and measurements:

GPS1 141115,131456,4752.0938,-12515.4629,35,1.4,35,16.5,0.6,248.3,8,6.2 SPEED_LIMITS 0.127,0.207

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 7 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 196.0,163355,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -75.6 D_GRID 373

GPS2 141115,132828,4752.1494,-12515.6924,3,1.5,3,16.5,0.5,313.1,8,10.0

Post-dive calculations and measurements:

FINISH -0.2,1.024200 _10V_AH 12.68,0.000

SM_CCo 10299,47.67,0.083,0,0,1310,400.08 FG_AHR_24Vo 0.000

SM_GC 0.71,9.73,0.52,47.67,0.030,0.097,0.083,95,1958,1310,-10.25,0.37,400.08,0,0,0,0,0,0,14.28,14.18,14.17 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12513.98,141115,102209 MEM 286428

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 16772,470

HUMID 50.55 CAP_FILE_SIZE 103648,0

INTERNAL_PRESSURE 9.09876 CFSIZE 260034560,190181376

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.032,235.12,1

SC_FREEKB 3715200 GPS 141115,162301,4751.197,-12516.803,37,0.9,37,16.5,1.2,358.4,9,4.9

_24V_AH 12.42,153.286

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 367 116.42 nil 0 0 0.00

Roll_motor 88 107 118.15 nil 0 0 0.00

VBD_pump_during_apogee 306 1180 4497.48 nil 0 0 0.00

VBD_pump_during_surface 47 83 49.37 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 10336 7 921.08

Iridium_during_xfer 479 149 892.25 PMAR 4759 9 543.72

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 15 1.01

TT8 1008 10 139.00

LPSleep 7618 2 211.57

TT8_Active 518 10 71.46

TT8_Sampling 1408 29 528.54

TT8_CF8 601 35 271.59

TT8_Kalman 0 0 0.00

Analog_circuits 1625 11 239.10

GPS_charging 0 0 0.00

Compass 698 16 146.06

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

25 end surface: CONTROL_FINISHED_OK

state 26 begin dive

31 -0.39 -107.1 85 1950 1221 1401 0.0 0.0 0 111 0.00 0.00 -75.18 0.000 16390 0.000 0.000 85 1948 3379 3369 3390 0 0 0 0 0 0 14.51 12.42 14.45

118 -0.39 -107.1 85 1947 3369 3392 1.9 -2.8 2 144 14.48 2.62 0.00 0.000 2308 0.368 0.095 3251 3386 3382 3370 3395 0 0 0 0 0 0 13.71 14.10 14.12

219 -0.39 -107.1 3250 3390 3365 3399 36.1 -11.7 20 227 0.00 2.58 0.00 0.000 1030 0.000 0.087 3247 1979 3384 3370 3399 0 0 0 0 0 0 14.18 14.04 14.23

589 -0.39 -107.1 3250 1973 3367 3404 74.9 -9.6 33 596 0.00 2.60 0.00 0.000 516 0.000 0.099 3251 543 3383 3367 3400 0 0 0 0 0 0 14.56 14.00 14.57

682 -0.39 -107.1 3251 543 3369 3404 84.4 -9.6 50 691 0.00 2.58 0.00 0.000 1030 0.000 0.086 3256 1984 3386 3367 3405 0 0 0 0 0 0 14.16 13.99 14.16

1027 -0.39 -107.1 3251 1983 3367 3405 112.5 -8.2 62 1035 0.00 2.55 0.00 0.000 260 0.000 0.102 3251 3377 3386 3367 3405 0 0 0 0 0 0 14.59 13.97 14.60

1097 -0.39 -107.1 3250 3377 3367 3405 117.5 -6.5 74 1106 0.00 2.58 0.00 0.000 1030 0.000 0.085 3250 1953 3386 3367 3405 0 0 0 0 0 0 14.13 13.97 14.16

1472 -0.39 -107.1 3251 1953 3366 3405 147.5 -8.4 91 1475 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1953 3385 3365 3405 0 0 0 0 0 0 14.55 14.57 14.57

1768 -0.39 -107.1 3251 1953 3365 3405 170.9 -7.7 96 1776 0.00 2.65 0.00 0.000 260 0.000 0.102 3251 3379 3385 3365 3405 0 0 0 0 0 0 14.58 14.00 14.58

1821 -0.39 -107.1 3250 3374 3365 3405 174.6 -6.6 105 1829 0.00 2.53 0.00 0.000 1030 0.000 0.085 3251 1974 3385 3365 3405 0 0 0 0 0 0 14.12 13.97 14.15

2146 -0.39 -107.1 3251 1974 3364 3405 192.5 -5.3 113 2149 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1974 3384 3364 3405 0 0 0 0 0 0 14.56 14.58 14.57

2446 -0.39 -107.1 3250 1973 3363 3401 214.4 -7.5 118 2455 0.00 2.60 0.00 0.000 516 0.000 0.098 3253 559 3387 3370 3405 0 0 0 0 0 0 14.59 13.97 14.60

2496 -0.39 -107.1 3251 558 3365 3405 218.5 -8.2 126 2504 0.00 2.53 0.00 0.000 1030 0.000 0.086 3251 1966 3386 3363 3410 0 0 0 0 0 0 14.16 14.01 14.21

2827 -0.39 -107.1 3252 1963 3363 3405 244.2 -7.8 135 2834 0.00 2.62 0.00 0.000 260 0.000 0.102 3251 3388 3383 3361 3405 0 0 0 0 0 0 14.59 13.94 14.60

2890 -0.39 -107.1 3250 3390 3362 3405 249.1 -7.5 146 2899 0.00 2.58 0.00 0.000 1030 0.000 0.084 3247 1966 3384 3361 3408 0 0 0 0 0 0 14.16 14.02 14.19

3196 -0.39 -107.1 3250 1965 3360 3405 271.2 -7.2 152 3199 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 1965 3382 3360 3405 0 0 0 0 0 0 14.59 14.61 14.61

3497 -0.39 -107.1 3251 1964 3359 3405 293.6 -7.6 157 3504 0.00 2.67 0.00 0.000 260 0.000 0.103 3251 3391 3382 3359 3405 0 0 0 0 0 0 14.57 13.83 14.59

3566 -0.39 -107.1 3250 3390 3359 3405 298.6 -7.0 169 3573 0.00 2.60 0.00 0.000 1030 0.000 0.086 3250 1963 3385 3359 3411 0 0 0 0 0 0 14.14 14.00 14.18

3941 -0.39 -107.1 3246 1963 3357 3405 326.1 -7.8 186 3949 0.00 2.58 0.00 0.000 516 0.000 0.100 3251 559 3381 3357 3405 0 0 0 0 0 0 14.57 13.93 14.58

3995 -0.39 -107.1 3250 556 3358 3405 331.4 -8.7 195 4003 0.00 2.58 0.00 0.000 1030 0.000 0.090 3251 1983 3380 3357 3404 0 0 0 0 0 0 14.16 13.99 14.19

4319 -0.39 -107.1 3251 1982 3356 3405 355.9 -7.5 203 4322 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1978 3380 3356 3405 0 0 0 0 0 0 14.57 14.58 14.57

4554 end dive: TARGET_DEPTH_EXCEEDED

state 4554 begin apogee

4567 -0.16 0.0 3251 2254 3355 3405 374.0 -7.6 207 4656 0.32 0.00 84.03 1.180 10246 0.161 0.000 3343 2251 2940 2875 3006 0 0 0 0 0 0 13.90 14.01 13.26

4660 end apogee: CONTROL_FINISHED_OK

state 4660 begin climb

4665 0.39 107.1 3344 2251 2871 3005 376.7 0.0 208 4759 0.52 0.00 84.40 1.166 10246 0.108 0.000 3524 2251 2503 2377 2630 0 0 0 0 0 0 14.06 13.88 13.14

5047 0.42 173.0 3524 2248 2372 2630 365.3 4.3 215 5106 0.00 0.00 51.67 1.156 8198 0.000 0.000 3523 2251 2234 2075 2394 0 0 0 0 0 0 14.53 14.05 13.33

5399 0.45 173.0 3523 2251 2078 2393 345.6 5.8 221 5410 0.00 0.00 0.00 0.000 6 0.000 0.000 3524 2251 2236 2079 2394 0 0 0 0 0 0 14.54 14.56 14.56

5700 0.49 173.0 3523 2251 2080 2393 329.2 5.4 226 5712 0.00 2.60 0.00 0.000 516 0.000 0.102 3527 842 2236 2080 2393 0 0 0 0 0 0 14.62 14.05 14.66

5779 0.52 227.5 3526 842 2081 2389 325.4 4.8 239 5836 0.08 2.55 43.00 1.108 11270 0.148 0.093 3594 2256 2011 1853 2170 0 0 0 0 0 0 14.16 14.11 13.43

6135 0.52 227.5 3594 2254 1850 2168 294.4 9.2 255 6146 0.00 2.60 0.00 0.000 260 0.000 0.105 3595 3665 2007 1850 2165 0 0 0 0 0 0 14.58 14.07 14.59

6197 0.52 227.5 3594 3665 1850 2167 287.8 11.0 265 6209 0.12 2.60 0.00 0.000 5126 0.217 0.090 3560 2243 2008 1850 2166 0 0 0 0 0 0 13.96 14.12 14.19

6524 0.52 227.5 3560 2238 1850 2167 262.0 7.8 272 6535 0.00 0.00 0.00 0.000 6 0.000 0.000 3566 2236 2008 1850 2166 0 0 0 0 0 0 14.61 14.63 14.62

6820 0.52 227.5 3560 2239 1849 2172 238.0 8.0 277 6831 0.00 2.55 0.00 0.000 516 0.000 0.102 3568 824 2011 1856 2166 0 0 0 0 0 0 14.62 14.06 14.64

6871 0.52 227.5 3568 824 1850 2166 233.8 8.3 285 6883 0.00 2.58 0.00 0.000 1030 0.000 0.090 3572 2256 2007 1849 2166 0 0 0 0 0 0 14.26 14.12 14.31

7205 0.52 227.5 3568 2258 1850 2166 208.5 7.7 294 7215 0.00 0.00 0.00 0.000 6 0.000 0.000 3568 2260 2008 1849 2167 0 0 0 0 0 0 14.64 14.66 14.66

7504 0.52 227.5 3568 2258 1849 2166 183.2 8.5 299 7515 0.00 0.00 0.00 0.000 6 0.000 0.000 3568 2257 2007 1849 2166 0 0 0 0 0 0 14.64 14.65 14.65

7805 0.52 227.5 3568 2258 1849 2165 161.6 7.0 304 7816 0.00 2.60 0.00 0.000 260 0.000 0.106 3568 3662 2007 1848 2166 0 0 0 0 0 0 14.63 13.99 14.64

7852 0.52 227.5 3568 3662 1848 2165 157.9 8.1 311 7863 0.00 2.58 0.00 0.000 1030 0.000 0.089 3569 2250 2006 1848 2164 0 0 0 0 0 0 14.21 14.06 14.26

8191 0.52 227.5 3568 2253 1848 2164 133.5 7.4 321 8202 0.00 2.58 0.00 0.000 516 0.000 0.099 3569 842 2004 1848 2161 0 0 0 0 0 0 14.62 13.98 14.64

8257 0.52 227.5 3571 841 1848 2165 128.4 7.5 332 8269 0.00 2.55 0.00 0.000 1030 0.000 0.091 3566 2246 2006 1848 2165 0 0 0 0 0 0 14.18 14.03 14.23

8564 0.54 227.5 3569 2246 1848 2165 108.5 6.4 338 8575 0.00 2.60 0.00 0.000 260 0.000 0.103 3569 3664 2007 1849 2166 0 0 0 0 0 0 14.64 13.99 14.65

8622 0.54 227.5 3572 3664 1848 2164 103.9 8.3 347 8633 0.00 2.60 0.00 0.000 1030 0.000 0.086 3570 2238 2008 1852 2165 0 0 0 0 0 0 14.20 14.08 14.25

8950 0.56 227.5 3569 2238 1846 2165 82.9 6.1 355 8961 0.00 2.55 0.00 0.000 516 0.000 0.099 3569 842 2007 1849 2165 0 0 0 0 0 0 14.62 13.97 14.63

9076 0.60 227.5 3567 842 1849 2164 76.6 5.4 377 9087 0.00 2.55 0.00 0.000 1030 0.000 0.090 3570 2252 2007 1849 2165 0 0 0 0 0 0 14.19 14.04 14.25

9399 0.63 287.1 3569 2252 1853 2165 62.0 4.6 384 9454 0.00 2.62 43.67 0.809 8708 0.000 0.102 3569 842 1767 1613 1922 0 0 0 0 0 0 14.62 14.22 13.58

9480 0.66 287.1 3570 842 1611 1917 57.6 6.2 398 9493 0.10 2.53 0.00 0.000 3078 0.125 0.090 3644 2251 1767 1613 1921 0 0 0 0 0 0 14.21 14.14 14.28

9815 0.66 287.1 3643 2250 1613 1921 27.3 7.3 416 9827 0.12 2.60 0.00 0.000 4356 0.216 0.100 3608 3664 1767 1613 1921 0 0 0 0 0 0 14.00 14.00 14.07

10063 0.66 287.1 3608 3664 1613 1919 11.1 7.0 462 10074 0.00 2.55 0.00 0.000 1030 0.000 0.086 3608 2254 1766 1613 1919 0 0 0 0 0 0 14.21 14.07 14.26

10200 end climb: SURFACE_DEPTH_REACHED

state 10201 begin surface coast

10268 end surface coast: CONTROL_FINISHED_OK

state 10268 begin surface

ID	187	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
DIVE	546	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	24	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	ALTIM_SENSITIVITY	3
D_SURF	4	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_VALID	1
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_TGT	990	SM_CC	400	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1020	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.69999999
D_NO_BLEED	200	FILEMGR	0	VBD_MIN	470	DEEPGLIDER	0
D_BOOST	20	CALL_NDIVES	1	VBD_MAX	3900	MOTHERBOARD	4
T_BOOST	5	COMM_SEQ	0	C_VBD	2941	DEVICE1	-1
D_FINISH	0	PROTOCOL	8	VBD_DBAND	2	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00050000002	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_DIVE	450	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
T_MISSION	570	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN	225	T_GPS	5	W_ADJ_DBAND	2	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	N_GPS	100440	DBDW	0	COMPASS2_DEVICE	149
T_NO_W	120	T_RSLEEP	2	PITCH_W_GAIN	2	PHONE_DEVICE	49
T_LOITER	0	STROBE	0	PITCH_W_DBAND	0.5	GPS_DEVICE	64
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	100	MINV_24V	10	SIM_PITCH	0
D_OFFGRID	1000	PITCH_MAX	3850	MINV_10V	10	SEABIRD_T_G	0.0043979231
T_WATCHDOG	10	C_PITCH	3394	MAXI_24V	0.60000002	SEABIRD_T_H	0.00063691288
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.4734132e-05
APOGEE_PITCH	-7	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	2.9167527e-06
MAX_BUOY	110	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-9.67243
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1076213
GLIDE_SLOPE	30	PITCH_GAIN	44	PRESSURE_YINT	-164.55209	SEABIRD_C_I	-0.0017588359
SPEED_FACTOR	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001068	SEABIRD_C_J	0.00021615655
RHO	1.0275	PITCH_AD_RATE	165	AD7714Ch0Gain	1	SC_RECORDABOVE	2000.0
MASS	53572	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MIN	440	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
KALMAN_USE	2	ROLL_MAX	4000	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	1.0
HD_A	0.0026964601	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099003203	C_ROLL_DIVE	1970	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_C	2.26204e-06	C_ROLL_CLIMB	2250	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0

GPS1	141115,131456,4752.0938,-12515.4629,35,1.4,35,16.5,0.6,248.3,8,6.2	SPEED_LIMITS	0.127,0.207
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	7	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	196.0,163355,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-75.6	D_GRID	373
GPS2	141115,132828,4752.1494,-12515.6924,3,1.5,3,16.5,0.5,313.1,8,10.0

FINISH	-0.2,1.024200	_10V_AH	12.68,0.000
SM_CCo	10299,47.67,0.083,0,0,1310,400.08	FG_AHR_24Vo	0.000
SM_GC	0.71,9.73,0.52,47.67,0.030,0.097,0.083,95,1958,1310,-10.25,0.37,400.08,0,0,0,0,0,0,14.28,14.18,14.17	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12513.98,141115,102209	MEM	286428
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	16772,470
HUMID	50.55	CAP_FILE_SIZE	103648,0
INTERNAL_PRESSURE	9.09876	CFSIZE	260034560,190181376
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.032,235.12,1
SC_FREEKB	3715200	GPS	141115,162301,4751.197,-12516.803,37,0.9,37,16.5,1.2,358.4,9,4.9
_24V_AH	12.42,153.286

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	367	116.42	nil	0	0	0.00
Roll_motor	88	107	118.15	nil	0	0	0.00
VBD_pump_during_apogee	306	1180	4497.48	nil	0	0	0.00
VBD_pump_during_surface	47	83	49.37	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	10336	7	921.08
Iridium_during_xfer	479	149	892.25	PMAR	4759	9	543.72
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	15	1.01
TT8	1008	10	139.00
LPSleep	7618	2	211.57
TT8_Active	518	10	71.46
TT8_Sampling	1408	29	528.54
TT8_CF8	601	35	271.59
TT8_Kalman	0	0	0.00
Analog_circuits	1625	11	239.10
GPS_charging	0	0	0.00
Compass	698	16	146.06
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
25	end surface: CONTROL_FINISHED_OK
state	26	begin dive
31	-0.39	-107.1	85	1950	1221	1401	0.0	0.0	0	111	0.00	0.00	-75.18	0.000	16390	0.000	0.000	85	1948	3379	3369	3390	0	0	0	0	0	0	14.51	12.42	14.45
118	-0.39	-107.1	85	1947	3369	3392	1.9	-2.8	2	144	14.48	2.62	0.00	0.000	2308	0.368	0.095	3251	3386	3382	3370	3395	0	0	0	0	0	0	13.71	14.10	14.12
219	-0.39	-107.1	3250	3390	3365	3399	36.1	-11.7	20	227	0.00	2.58	0.00	0.000	1030	0.000	0.087	3247	1979	3384	3370	3399	0	0	0	0	0	0	14.18	14.04	14.23
589	-0.39	-107.1	3250	1973	3367	3404	74.9	-9.6	33	596	0.00	2.60	0.00	0.000	516	0.000	0.099	3251	543	3383	3367	3400	0	0	0	0	0	0	14.56	14.00	14.57
682	-0.39	-107.1	3251	543	3369	3404	84.4	-9.6	50	691	0.00	2.58	0.00	0.000	1030	0.000	0.086	3256	1984	3386	3367	3405	0	0	0	0	0	0	14.16	13.99	14.16
1027	-0.39	-107.1	3251	1983	3367	3405	112.5	-8.2	62	1035	0.00	2.55	0.00	0.000	260	0.000	0.102	3251	3377	3386	3367	3405	0	0	0	0	0	0	14.59	13.97	14.60
1097	-0.39	-107.1	3250	3377	3367	3405	117.5	-6.5	74	1106	0.00	2.58	0.00	0.000	1030	0.000	0.085	3250	1953	3386	3367	3405	0	0	0	0	0	0	14.13	13.97	14.16
1472	-0.39	-107.1	3251	1953	3366	3405	147.5	-8.4	91	1475	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1953	3385	3365	3405	0	0	0	0	0	0	14.55	14.57	14.57
1768	-0.39	-107.1	3251	1953	3365	3405	170.9	-7.7	96	1776	0.00	2.65	0.00	0.000	260	0.000	0.102	3251	3379	3385	3365	3405	0	0	0	0	0	0	14.58	14.00	14.58
1821	-0.39	-107.1	3250	3374	3365	3405	174.6	-6.6	105	1829	0.00	2.53	0.00	0.000	1030	0.000	0.085	3251	1974	3385	3365	3405	0	0	0	0	0	0	14.12	13.97	14.15
2146	-0.39	-107.1	3251	1974	3364	3405	192.5	-5.3	113	2149	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1974	3384	3364	3405	0	0	0	0	0	0	14.56	14.58	14.57
2446	-0.39	-107.1	3250	1973	3363	3401	214.4	-7.5	118	2455	0.00	2.60	0.00	0.000	516	0.000	0.098	3253	559	3387	3370	3405	0	0	0	0	0	0	14.59	13.97	14.60
2496	-0.39	-107.1	3251	558	3365	3405	218.5	-8.2	126	2504	0.00	2.53	0.00	0.000	1030	0.000	0.086	3251	1966	3386	3363	3410	0	0	0	0	0	0	14.16	14.01	14.21
2827	-0.39	-107.1	3252	1963	3363	3405	244.2	-7.8	135	2834	0.00	2.62	0.00	0.000	260	0.000	0.102	3251	3388	3383	3361	3405	0	0	0	0	0	0	14.59	13.94	14.60
2890	-0.39	-107.1	3250	3390	3362	3405	249.1	-7.5	146	2899	0.00	2.58	0.00	0.000	1030	0.000	0.084	3247	1966	3384	3361	3408	0	0	0	0	0	0	14.16	14.02	14.19
3196	-0.39	-107.1	3250	1965	3360	3405	271.2	-7.2	152	3199	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	1965	3382	3360	3405	0	0	0	0	0	0	14.59	14.61	14.61
3497	-0.39	-107.1	3251	1964	3359	3405	293.6	-7.6	157	3504	0.00	2.67	0.00	0.000	260	0.000	0.103	3251	3391	3382	3359	3405	0	0	0	0	0	0	14.57	13.83	14.59
3566	-0.39	-107.1	3250	3390	3359	3405	298.6	-7.0	169	3573	0.00	2.60	0.00	0.000	1030	0.000	0.086	3250	1963	3385	3359	3411	0	0	0	0	0	0	14.14	14.00	14.18
3941	-0.39	-107.1	3246	1963	3357	3405	326.1	-7.8	186	3949	0.00	2.58	0.00	0.000	516	0.000	0.100	3251	559	3381	3357	3405	0	0	0	0	0	0	14.57	13.93	14.58
3995	-0.39	-107.1	3250	556	3358	3405	331.4	-8.7	195	4003	0.00	2.58	0.00	0.000	1030	0.000	0.090	3251	1983	3380	3357	3404	0	0	0	0	0	0	14.16	13.99	14.19
4319	-0.39	-107.1	3251	1982	3356	3405	355.9	-7.5	203	4322	0.00	0.00	0.00	0.000	6	0.000	0.000	3251	1978	3380	3356	3405	0	0	0	0	0	0	14.57	14.58	14.57
4554	end dive: TARGET_DEPTH_EXCEEDED
state	4554	begin apogee
4567	-0.16	0.0	3251	2254	3355	3405	374.0	-7.6	207	4656	0.32	0.00	84.03	1.180	10246	0.161	0.000	3343	2251	2940	2875	3006	0	0	0	0	0	0	13.90	14.01	13.26
4660	end apogee: CONTROL_FINISHED_OK
state	4660	begin climb
4665	0.39	107.1	3344	2251	2871	3005	376.7	0.0	208	4759	0.52	0.00	84.40	1.166	10246	0.108	0.000	3524	2251	2503	2377	2630	0	0	0	0	0	0	14.06	13.88	13.14
5047	0.42	173.0	3524	2248	2372	2630	365.3	4.3	215	5106	0.00	0.00	51.67	1.156	8198	0.000	0.000	3523	2251	2234	2075	2394	0	0	0	0	0	0	14.53	14.05	13.33
5399	0.45	173.0	3523	2251	2078	2393	345.6	5.8	221	5410	0.00	0.00	0.00	0.000	6	0.000	0.000	3524	2251	2236	2079	2394	0	0	0	0	0	0	14.54	14.56	14.56
5700	0.49	173.0	3523	2251	2080	2393	329.2	5.4	226	5712	0.00	2.60	0.00	0.000	516	0.000	0.102	3527	842	2236	2080	2393	0	0	0	0	0	0	14.62	14.05	14.66
5779	0.52	227.5	3526	842	2081	2389	325.4	4.8	239	5836	0.08	2.55	43.00	1.108	11270	0.148	0.093	3594	2256	2011	1853	2170	0	0	0	0	0	0	14.16	14.11	13.43
6135	0.52	227.5	3594	2254	1850	2168	294.4	9.2	255	6146	0.00	2.60	0.00	0.000	260	0.000	0.105	3595	3665	2007	1850	2165	0	0	0	0	0	0	14.58	14.07	14.59
6197	0.52	227.5	3594	3665	1850	2167	287.8	11.0	265	6209	0.12	2.60	0.00	0.000	5126	0.217	0.090	3560	2243	2008	1850	2166	0	0	0	0	0	0	13.96	14.12	14.19
6524	0.52	227.5	3560	2238	1850	2167	262.0	7.8	272	6535	0.00	0.00	0.00	0.000	6	0.000	0.000	3566	2236	2008	1850	2166	0	0	0	0	0	0	14.61	14.63	14.62
6820	0.52	227.5	3560	2239	1849	2172	238.0	8.0	277	6831	0.00	2.55	0.00	0.000	516	0.000	0.102	3568	824	2011	1856	2166	0	0	0	0	0	0	14.62	14.06	14.64
6871	0.52	227.5	3568	824	1850	2166	233.8	8.3	285	6883	0.00	2.58	0.00	0.000	1030	0.000	0.090	3572	2256	2007	1849	2166	0	0	0	0	0	0	14.26	14.12	14.31
7205	0.52	227.5	3568	2258	1850	2166	208.5	7.7	294	7215	0.00	0.00	0.00	0.000	6	0.000	0.000	3568	2260	2008	1849	2167	0	0	0	0	0	0	14.64	14.66	14.66
7504	0.52	227.5	3568	2258	1849	2166	183.2	8.5	299	7515	0.00	0.00	0.00	0.000	6	0.000	0.000	3568	2257	2007	1849	2166	0	0	0	0	0	0	14.64	14.65	14.65
7805	0.52	227.5	3568	2258	1849	2165	161.6	7.0	304	7816	0.00	2.60	0.00	0.000	260	0.000	0.106	3568	3662	2007	1848	2166	0	0	0	0	0	0	14.63	13.99	14.64
7852	0.52	227.5	3568	3662	1848	2165	157.9	8.1	311	7863	0.00	2.58	0.00	0.000	1030	0.000	0.089	3569	2250	2006	1848	2164	0	0	0	0	0	0	14.21	14.06	14.26
8191	0.52	227.5	3568	2253	1848	2164	133.5	7.4	321	8202	0.00	2.58	0.00	0.000	516	0.000	0.099	3569	842	2004	1848	2161	0	0	0	0	0	0	14.62	13.98	14.64
8257	0.52	227.5	3571	841	1848	2165	128.4	7.5	332	8269	0.00	2.55	0.00	0.000	1030	0.000	0.091	3566	2246	2006	1848	2165	0	0	0	0	0	0	14.18	14.03	14.23
8564	0.54	227.5	3569	2246	1848	2165	108.5	6.4	338	8575	0.00	2.60	0.00	0.000	260	0.000	0.103	3569	3664	2007	1849	2166	0	0	0	0	0	0	14.64	13.99	14.65
8622	0.54	227.5	3572	3664	1848	2164	103.9	8.3	347	8633	0.00	2.60	0.00	0.000	1030	0.000	0.086	3570	2238	2008	1852	2165	0	0	0	0	0	0	14.20	14.08	14.25
8950	0.56	227.5	3569	2238	1846	2165	82.9	6.1	355	8961	0.00	2.55	0.00	0.000	516	0.000	0.099	3569	842	2007	1849	2165	0	0	0	0	0	0	14.62	13.97	14.63
9076	0.60	227.5	3567	842	1849	2164	76.6	5.4	377	9087	0.00	2.55	0.00	0.000	1030	0.000	0.090	3570	2252	2007	1849	2165	0	0	0	0	0	0	14.19	14.04	14.25
9399	0.63	287.1	3569	2252	1853	2165	62.0	4.6	384	9454	0.00	2.62	43.67	0.809	8708	0.000	0.102	3569	842	1767	1613	1922	0	0	0	0	0	0	14.62	14.22	13.58
9480	0.66	287.1	3570	842	1611	1917	57.6	6.2	398	9493	0.10	2.53	0.00	0.000	3078	0.125	0.090	3644	2251	1767	1613	1921	0	0	0	0	0	0	14.21	14.14	14.28
9815	0.66	287.1	3643	2250	1613	1921	27.3	7.3	416	9827	0.12	2.60	0.00	0.000	4356	0.216	0.100	3608	3664	1767	1613	1921	0	0	0	0	0	0	14.00	14.00	14.07
10063	0.66	287.1	3608	3664	1613	1919	11.1	7.0	462	10074	0.00	2.55	0.00	0.000	1030	0.000	0.086	3608	2254	1766	1613	1919	0	0	0	0	0	0	14.21	14.07	14.26
10200	end climb: SURFACE_DEPTH_REACHED
state	10201	begin surface coast
10268	end surface coast: CONTROL_FINISHED_OK
state	10268	begin surface