Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 555 * 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 555 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 40 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 55 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 350 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 1 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 -194902.92 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 350

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 1 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 -194902.92

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 40 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 55 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 555 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 040114,090705,4750.225,-12517.765,29,0.8,30,17.2 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 2.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040114,091418,4750.368,-12517.797,18,0.9,19,17.2 MHEAD_RNG_PITCHd_Wd 100.6,9790,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 443

Post-dive calculations and measurements:

FINISH 1.8,1.024197 _24V_AH 24.1,57.718

SM_CCo 8032,81.45,0.057,0,0,1581,350.04 _10V_AH 9.3,57.097

SM_GC 2.71,8.73,1.67,81.45,0.043,0.025,0.057,334,2312,1581,-8.87,2.01,350.04,0,0,0,0,0,0,26.03,26.31,25.92 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12516.60,040114,060633 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 258736

HUMID 56.22 DATA_FILE_SIZE 16777,472

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 112619,0

TCM_TEMP 18.10 CFSIZE 260034560,196075520

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

SC_FREEKB 3760544 CURRENT 0.198,349.3,1

PM_FREEKB 2218096 GPS 040114,113134,4750.799,-12516.958,41,1.1,41,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 227 117.44 nil 0 0 0.00

Roll_motor 62 45 68.04 nil 0 0 0.00

VBD_pump_during_apogee 341 761 6272.26 nil 0 0 0.00

VBD_pump_during_surface 81 57 112.62 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 8017 5 1131.63

Iridium_during_xfer 204 124 613.58 PMAR 186 10 44.84

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 5.59

TT8 1406 11 153.75

LPSleep 4751 2 96.78

TT8_Active 466 11 50.94

TT8_Sampling 1507 38 542.70

TT8_CF8 417 49 191.14

TT8_Kalman 0 0 0.00

Analog_circuits 1501 15 223.03

GPS_charging 0 0 0.00

Compass 1079 7 75.19

RAFOS 0 0 0.00

Transponder 0 5 0.02

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.11 -107.1 332 2275 1620 1503 0.0 0.0 0 60 0.00 0.00 -28.95 0.000 16386 0.000 0.000 332 2275 2318 2366 2271 0 0 0 0 0 0 28.83 28.83 28.83

65 -1.11 -107.1 332 2274 2373 2273 3.0 -1.2 5 131 10.02 2.20 -42.05 0.000 18948 0.228 0.045 2848 870 3450 3483 3417 0 0 0 0 0 0 25.18 26.04 26.49

148 -1.11 -107.1 1832 869 3472 3416 6.9 -12.7 17 160 0.00 2.22 0.00 0.000 1030 0.000 0.031 2840 2307 3451 3484 3419 0 0 0 0 0 0 28.83 26.04 28.83

487 -1.11 -107.1 2840 2307 3488 3422 67.3 -16.7 52 498 0.00 1.95 0.00 0.000 260 0.000 0.043 2830 3605 3455 3488 3422 0 0 0 0 0 0 28.83 26.05 28.83

608 -1.11 -107.1 2830 3605 3488 3422 83.8 -14.4 57 619 0.00 1.92 0.00 0.000 1030 0.000 0.025 2838 2246 3455 3488 3422 0 0 0 0 0 0 28.83 26.34 28.83

928 -1.11 -107.1 2838 2245 3489 3422 123.7 -10.9 73 939 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2245 3455 3489 3422 0 0 0 0 0 0 28.83 28.83 28.83

1229 -1.11 -107.1 2837 2245 3490 3422 157.2 -11.4 88 1239 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2244 3455 3489 3422 0 0 0 0 0 0 28.83 28.83 28.83

1529 -1.11 -107.1 2838 2244 3490 3422 192.4 -11.8 103 1539 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2244 3456 3490 3423 0 0 0 0 0 0 28.83 28.83 28.83

1829 -1.11 -107.1 2838 2244 3490 3422 225.3 -10.6 118 1839 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2244 3456 3490 3422 0 0 0 0 0 0 28.83 28.83 28.83

2129 -1.11 -107.1 2838 2244 3490 3422 258.4 -11.0 133 2139 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2244 3456 3490 3422 0 0 0 0 0 0 28.83 28.83 28.83

2429 -1.11 -107.1 2838 2244 3490 3423 294.0 -12.3 148 2440 0.00 2.08 0.00 0.000 516 0.000 0.031 2839 867 3456 3490 3423 0 0 0 0 0 0 28.83 26.29 28.83

2488 -1.11 -107.1 2839 867 3490 3422 300.5 -12.5 150 2499 0.00 2.20 0.00 0.000 1030 0.000 0.031 2831 2306 3456 3490 3422 0 0 0 0 0 0 28.83 26.31 28.83

2809 -1.11 -107.1 2832 2306 3490 3422 340.8 -12.1 166 2819 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2306 3455 3489 3422 0 0 0 0 0 0 28.83 28.83 28.83

3109 -1.11 -107.1 2831 2306 3489 3422 376.6 -11.6 181 3120 0.00 1.90 0.00 0.000 260 0.000 0.043 2822 3591 3455 3489 3422 0 0 0 0 0 0 28.83 26.15 28.83

3168 -1.11 -107.1 2821 3591 3489 3422 382.8 -12.2 183 3179 0.00 1.90 0.00 0.000 1030 0.000 0.025 2822 2240 3455 3489 3422 0 0 0 0 0 0 28.83 26.48 28.83

3488 -1.11 -107.1 2821 2239 3489 3422 421.8 -11.5 199 3499 0.00 2.05 0.00 0.000 260 0.000 0.042 2814 3599 3455 3488 3422 0 0 0 0 0 0 28.83 26.15 28.83

3528 -1.11 -107.1 2813 3600 3488 3423 425.3 -11.5 200 3539 0.00 1.90 0.00 0.000 1030 0.000 0.025 2814 2249 3455 3488 3422 0 0 0 0 0 0 28.83 26.46 28.83

3685 end dive: TARGET_DEPTH_EXCEEDED

state 3685 begin apogee

3697 -0.25 0.0 2813 1978 3488 3422 444.4 -10.9 208 3846 0.98 0.00 133.85 0.762 10246 0.139 0.000 3115 1977 3004 3086 2923 0 0 0 0 0 0 25.22 28.83 24.22

3848 end apogee: CONTROL_FINISHED_OK

state 3848 begin climb

3853 1.11 107.1 3115 1977 3082 2920 448.8 0.0 215 3999 1.25 2.17 132.52 0.665 10756 0.078 0.031 3562 647 2566 2657 2475 0 0 0 0 0 0 25.25 25.01 24.06

4043 1.11 107.1 3562 647 2644 2470 436.0 9.9 224 4056 0.00 2.22 0.00 0.000 1030 0.000 0.029 3562 2025 2557 2644 2470 0 0 0 0 0 0 28.83 25.43 28.83

4348 1.11 107.1 3562 2024 2640 2466 396.8 12.1 240 4360 0.00 2.12 0.00 0.000 260 0.000 0.040 3562 3441 2552 2639 2466 0 0 0 0 0 0 28.83 25.97 28.83

4380 1.11 107.1 3562 3441 2638 2465 392.8 12.4 241 4392 0.00 2.08 0.00 0.000 1030 0.000 0.025 3572 2026 2552 2639 2465 0 0 0 0 0 0 28.83 26.16 28.83

4711 1.11 107.1 3571 2026 2637 2463 351.9 12.3 257 4722 0.00 2.15 0.00 0.000 260 0.000 0.040 3572 3437 2550 2637 2463 0 0 0 0 0 0 28.83 26.12 28.83

4822 1.11 107.1 3571 3437 2636 2462 336.9 13.6 262 4833 0.00 2.08 0.00 0.000 1030 0.000 0.025 3582 2014 2549 2636 2462 0 0 0 0 0 0 28.83 26.33 28.83

5154 1.11 107.1 3581 2014 2635 2462 295.7 12.1 278 5164 0.00 2.12 0.00 0.000 516 0.000 0.034 3592 640 2548 2634 2462 0 0 0 0 0 0 28.83 26.24 28.83

5274 1.11 107.1 3591 640 2634 2461 282.1 12.1 283 5285 0.12 2.15 0.00 0.000 5126 0.163 0.028 3560 2042 2548 2634 2462 0 0 0 0 0 0 25.95 26.32 28.83

5596 1.11 107.1 3561 2041 2633 2461 244.2 12.1 299 5607 0.00 2.05 0.00 0.000 260 0.000 0.041 3556 3421 2547 2633 2461 0 0 0 0 0 0 28.83 26.20 28.83

5627 1.11 107.1 3556 3421 2633 2461 240.3 12.4 300 5638 0.00 2.03 0.00 0.000 1030 0.000 0.026 3564 2026 2546 2633 2460 0 0 0 0 0 0 28.83 26.43 28.83

5957 1.11 107.1 3563 2026 2633 2460 200.6 11.6 316 5968 0.00 2.10 0.00 0.000 516 0.000 0.034 3573 644 2546 2633 2460 0 0 0 0 0 0 28.83 26.29 28.83

6109 1.11 107.1 3573 644 2632 2460 182.8 11.8 323 6120 0.00 2.15 0.00 0.000 1030 0.000 0.030 3571 2034 2546 2632 2460 0 0 0 0 0 0 28.83 26.35 28.83

6440 1.11 107.1 3571 2033 2631 2460 144.5 11.9 339 6451 0.00 2.15 0.00 0.000 516 0.000 0.034 3578 644 2545 2631 2460 0 0 0 0 0 0 28.83 26.29 28.83

6475 1.11 107.1 3578 644 2631 2460 141.1 11.5 340 6486 0.00 2.15 0.00 0.000 1030 0.000 0.030 3578 2035 2545 2631 2460 0 0 0 0 0 0 28.83 26.35 28.83

6800 1.11 107.1 3577 2035 2630 2460 104.0 11.6 356 6811 0.00 2.08 0.00 0.000 260 0.000 0.041 3578 3423 2545 2630 2460 0 0 0 0 0 0 28.83 26.19 28.83

6973 1.11 107.1 3577 3423 2630 2459 83.9 11.1 364 6985 0.12 2.00 0.00 0.000 5126 0.167 0.026 3557 2025 2544 2630 2459 0 0 0 0 0 0 26.02 26.46 28.83

7305 1.29 167.6 3557 2020 2630 2459 60.3 5.0 380 7395 0.15 2.25 75.20 0.593 10500 0.084 0.040 3623 3422 2322 2409 2235 0 0 0 0 0 0 26.53 25.70 24.72

7435 1.29 167.6 3622 3422 2404 2231 49.1 9.8 386 7446 0.00 2.05 0.00 0.000 1030 0.000 0.025 3631 2025 2317 2404 2230 0 0 0 0 0 0 28.83 25.91 28.83

7754 1.30 169.0 3630 2025 2399 2227 17.2 8.0 425 7766 0.00 2.12 0.00 0.000 260 0.000 0.040 3630 3424 2313 2399 2227 0 0 0 0 0 0 28.83 26.01 28.83

7948 end climb: SURFACE_DEPTH_REACHED

state 7948 begin surface coast

8004 end surface coast: CONTROL_FINISHED_OK

state 8005 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	555	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	40	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	55	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	350	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	1	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	-194902.92	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	040114,090705,4750.225,-12517.765,29,0.8,30,17.2	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	2.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040114,091418,4750.368,-12517.797,18,0.9,19,17.2	MHEAD_RNG_PITCHd_Wd	100.6,9790,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	443

FINISH	1.8,1.024197	_24V_AH	24.1,57.718
SM_CCo	8032,81.45,0.057,0,0,1581,350.04	_10V_AH	9.3,57.097
SM_GC	2.71,8.73,1.67,81.45,0.043,0.025,0.057,334,2312,1581,-8.87,2.01,350.04,0,0,0,0,0,0,26.03,26.31,25.92	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12516.60,040114,060633	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	258736
HUMID	56.22	DATA_FILE_SIZE	16777,472
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	112619,0
TCM_TEMP	18.10	CFSIZE	260034560,196075520
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3760544	CURRENT	0.198,349.3,1
PM_FREEKB	2218096	GPS	040114,113134,4750.799,-12516.958,41,1.1,41,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	227	117.44	nil	0	0	0.00
Roll_motor	62	45	68.04	nil	0	0	0.00
VBD_pump_during_apogee	341	761	6272.26	nil	0	0	0.00
VBD_pump_during_surface	81	57	112.62	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	8017	5	1131.63
Iridium_during_xfer	204	124	613.58	PMAR	186	10	44.84
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	5.59
TT8	1406	11	153.75
LPSleep	4751	2	96.78
TT8_Active	466	11	50.94
TT8_Sampling	1507	38	542.70
TT8_CF8	417	49	191.14
TT8_Kalman	0	0	0.00
Analog_circuits	1501	15	223.03
GPS_charging	0	0	0.00
Compass	1079	7	75.19
RAFOS	0	0	0.00
Transponder	0	5	0.02

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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.11	-107.1	332	2275	1620	1503	0.0	0.0	0	60	0.00	0.00	-28.95	0.000	16386	0.000	0.000	332	2275	2318	2366	2271	0	0	0	0	0	0	28.83	28.83	28.83
65	-1.11	-107.1	332	2274	2373	2273	3.0	-1.2	5	131	10.02	2.20	-42.05	0.000	18948	0.228	0.045	2848	870	3450	3483	3417	0	0	0	0	0	0	25.18	26.04	26.49
148	-1.11	-107.1	1832	869	3472	3416	6.9	-12.7	17	160	0.00	2.22	0.00	0.000	1030	0.000	0.031	2840	2307	3451	3484	3419	0	0	0	0	0	0	28.83	26.04	28.83
487	-1.11	-107.1	2840	2307	3488	3422	67.3	-16.7	52	498	0.00	1.95	0.00	0.000	260	0.000	0.043	2830	3605	3455	3488	3422	0	0	0	0	0	0	28.83	26.05	28.83
608	-1.11	-107.1	2830	3605	3488	3422	83.8	-14.4	57	619	0.00	1.92	0.00	0.000	1030	0.000	0.025	2838	2246	3455	3488	3422	0	0	0	0	0	0	28.83	26.34	28.83
928	-1.11	-107.1	2838	2245	3489	3422	123.7	-10.9	73	939	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2245	3455	3489	3422	0	0	0	0	0	0	28.83	28.83	28.83
1229	-1.11	-107.1	2837	2245	3490	3422	157.2	-11.4	88	1239	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2244	3455	3489	3422	0	0	0	0	0	0	28.83	28.83	28.83
1529	-1.11	-107.1	2838	2244	3490	3422	192.4	-11.8	103	1539	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2244	3456	3490	3423	0	0	0	0	0	0	28.83	28.83	28.83
1829	-1.11	-107.1	2838	2244	3490	3422	225.3	-10.6	118	1839	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2244	3456	3490	3422	0	0	0	0	0	0	28.83	28.83	28.83
2129	-1.11	-107.1	2838	2244	3490	3422	258.4	-11.0	133	2139	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	2244	3456	3490	3422	0	0	0	0	0	0	28.83	28.83	28.83
2429	-1.11	-107.1	2838	2244	3490	3423	294.0	-12.3	148	2440	0.00	2.08	0.00	0.000	516	0.000	0.031	2839	867	3456	3490	3423	0	0	0	0	0	0	28.83	26.29	28.83
2488	-1.11	-107.1	2839	867	3490	3422	300.5	-12.5	150	2499	0.00	2.20	0.00	0.000	1030	0.000	0.031	2831	2306	3456	3490	3422	0	0	0	0	0	0	28.83	26.31	28.83
2809	-1.11	-107.1	2832	2306	3490	3422	340.8	-12.1	166	2819	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2306	3455	3489	3422	0	0	0	0	0	0	28.83	28.83	28.83
3109	-1.11	-107.1	2831	2306	3489	3422	376.6	-11.6	181	3120	0.00	1.90	0.00	0.000	260	0.000	0.043	2822	3591	3455	3489	3422	0	0	0	0	0	0	28.83	26.15	28.83
3168	-1.11	-107.1	2821	3591	3489	3422	382.8	-12.2	183	3179	0.00	1.90	0.00	0.000	1030	0.000	0.025	2822	2240	3455	3489	3422	0	0	0	0	0	0	28.83	26.48	28.83
3488	-1.11	-107.1	2821	2239	3489	3422	421.8	-11.5	199	3499	0.00	2.05	0.00	0.000	260	0.000	0.042	2814	3599	3455	3488	3422	0	0	0	0	0	0	28.83	26.15	28.83
3528	-1.11	-107.1	2813	3600	3488	3423	425.3	-11.5	200	3539	0.00	1.90	0.00	0.000	1030	0.000	0.025	2814	2249	3455	3488	3422	0	0	0	0	0	0	28.83	26.46	28.83
3685	end dive: TARGET_DEPTH_EXCEEDED
state	3685	begin apogee
3697	-0.25	0.0	2813	1978	3488	3422	444.4	-10.9	208	3846	0.98	0.00	133.85	0.762	10246	0.139	0.000	3115	1977	3004	3086	2923	0	0	0	0	0	0	25.22	28.83	24.22
3848	end apogee: CONTROL_FINISHED_OK
state	3848	begin climb
3853	1.11	107.1	3115	1977	3082	2920	448.8	0.0	215	3999	1.25	2.17	132.52	0.665	10756	0.078	0.031	3562	647	2566	2657	2475	0	0	0	0	0	0	25.25	25.01	24.06
4043	1.11	107.1	3562	647	2644	2470	436.0	9.9	224	4056	0.00	2.22	0.00	0.000	1030	0.000	0.029	3562	2025	2557	2644	2470	0	0	0	0	0	0	28.83	25.43	28.83
4348	1.11	107.1	3562	2024	2640	2466	396.8	12.1	240	4360	0.00	2.12	0.00	0.000	260	0.000	0.040	3562	3441	2552	2639	2466	0	0	0	0	0	0	28.83	25.97	28.83
4380	1.11	107.1	3562	3441	2638	2465	392.8	12.4	241	4392	0.00	2.08	0.00	0.000	1030	0.000	0.025	3572	2026	2552	2639	2465	0	0	0	0	0	0	28.83	26.16	28.83
4711	1.11	107.1	3571	2026	2637	2463	351.9	12.3	257	4722	0.00	2.15	0.00	0.000	260	0.000	0.040	3572	3437	2550	2637	2463	0	0	0	0	0	0	28.83	26.12	28.83
4822	1.11	107.1	3571	3437	2636	2462	336.9	13.6	262	4833	0.00	2.08	0.00	0.000	1030	0.000	0.025	3582	2014	2549	2636	2462	0	0	0	0	0	0	28.83	26.33	28.83
5154	1.11	107.1	3581	2014	2635	2462	295.7	12.1	278	5164	0.00	2.12	0.00	0.000	516	0.000	0.034	3592	640	2548	2634	2462	0	0	0	0	0	0	28.83	26.24	28.83
5274	1.11	107.1	3591	640	2634	2461	282.1	12.1	283	5285	0.12	2.15	0.00	0.000	5126	0.163	0.028	3560	2042	2548	2634	2462	0	0	0	0	0	0	25.95	26.32	28.83
5596	1.11	107.1	3561	2041	2633	2461	244.2	12.1	299	5607	0.00	2.05	0.00	0.000	260	0.000	0.041	3556	3421	2547	2633	2461	0	0	0	0	0	0	28.83	26.20	28.83
5627	1.11	107.1	3556	3421	2633	2461	240.3	12.4	300	5638	0.00	2.03	0.00	0.000	1030	0.000	0.026	3564	2026	2546	2633	2460	0	0	0	0	0	0	28.83	26.43	28.83
5957	1.11	107.1	3563	2026	2633	2460	200.6	11.6	316	5968	0.00	2.10	0.00	0.000	516	0.000	0.034	3573	644	2546	2633	2460	0	0	0	0	0	0	28.83	26.29	28.83
6109	1.11	107.1	3573	644	2632	2460	182.8	11.8	323	6120	0.00	2.15	0.00	0.000	1030	0.000	0.030	3571	2034	2546	2632	2460	0	0	0	0	0	0	28.83	26.35	28.83
6440	1.11	107.1	3571	2033	2631	2460	144.5	11.9	339	6451	0.00	2.15	0.00	0.000	516	0.000	0.034	3578	644	2545	2631	2460	0	0	0	0	0	0	28.83	26.29	28.83
6475	1.11	107.1	3578	644	2631	2460	141.1	11.5	340	6486	0.00	2.15	0.00	0.000	1030	0.000	0.030	3578	2035	2545	2631	2460	0	0	0	0	0	0	28.83	26.35	28.83
6800	1.11	107.1	3577	2035	2630	2460	104.0	11.6	356	6811	0.00	2.08	0.00	0.000	260	0.000	0.041	3578	3423	2545	2630	2460	0	0	0	0	0	0	28.83	26.19	28.83
6973	1.11	107.1	3577	3423	2630	2459	83.9	11.1	364	6985	0.12	2.00	0.00	0.000	5126	0.167	0.026	3557	2025	2544	2630	2459	0	0	0	0	0	0	26.02	26.46	28.83
7305	1.29	167.6	3557	2020	2630	2459	60.3	5.0	380	7395	0.15	2.25	75.20	0.593	10500	0.084	0.040	3623	3422	2322	2409	2235	0	0	0	0	0	0	26.53	25.70	24.72
7435	1.29	167.6	3622	3422	2404	2231	49.1	9.8	386	7446	0.00	2.05	0.00	0.000	1030	0.000	0.025	3631	2025	2317	2404	2230	0	0	0	0	0	0	28.83	25.91	28.83
7754	1.30	169.0	3630	2025	2399	2227	17.2	8.0	425	7766	0.00	2.12	0.00	0.000	260	0.000	0.040	3630	3424	2313	2399	2227	0	0	0	0	0	0	28.83	26.01	28.83
7948	end climb: SURFACE_DEPTH_REACHED
state	7948	begin surface coast
8004	end surface coast: CONTROL_FINISHED_OK
state	8005	begin surface