Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 576 * 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 576 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 75 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 57 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 -194929.27 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 -194929.27

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 75 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 57 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 576 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 050114,234730,4750.208,-12518.041,36,1.1,36,17.2 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050114,235511,4750.268,-12518.042,14,1.6,15,17.2 MHEAD_RNG_PITCHd_Wd 171.9,158906,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 478

Post-dive calculations and measurements:

FINISH 1.6,1.012182 _24V_AH 24.0,59.176

SM_CCo 8411,64.82,0.057,0,0,1581,350.04 _10V_AH 9.9,58.068

SM_GC 2.72,8.85,0.43,64.82,0.042,0.044,0.057,342,2312,1581,-8.86,-1.50,350.04,0,0,0,0,0,0,25.87,26.03,25.82 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12523.69,050114,212147 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 258740

HUMID 56.41 DATA_FILE_SIZE 16810,477

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 119400,0

TCM_TEMP 18.30 CFSIZE 260034560,195059712

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

SC_FREEKB 3753824 CURRENT 0.139,330.9,1

PM_FREEKB 2153160 GPS 060114,021828,4749.924,-12518.627,38,0.8,38,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 239 126.57 nil 0 0 0.00

Roll_motor 72 44 76.75 nil 0 0 0.00

VBD_pump_during_apogee 390 753 7057.06 nil 0 0 0.00

VBD_pump_during_surface 64 56 88.07 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 8398 5 1162.35

Iridium_during_xfer 232 122 684.02 PMAR 186 9 44.26

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 4.88

TT8 1479 11 172.10

LPSleep 4909 2 106.45

TT8_Active 499 11 58.06

TT8_Sampling 1610 38 617.24

TT8_CF8 441 49 215.15

TT8_Kalman 0 0 0.00

Analog_circuits 1613 15 255.05

GPS_charging 0 0 0.00

Compass 1132 7 83.97

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

24 -1.11 -107.1 337 2326 1627 1506 0.0 0.0 0 71 0.00 0.00 -40.05 0.000 16386 0.000 0.000 338 2326 2615 2645 2585 0 0 0 0 0 0 28.83 28.83 28.83

76 -1.11 -107.1 337 2327 2650 2589 3.2 -2.5 7 125 10.32 2.20 -25.45 0.000 18948 0.239 0.044 2847 901 3449 3480 3418 0 0 0 0 0 0 25.19 26.01 26.46

356 -1.11 -107.1 1856 901 3474 3422 46.5 -16.2 46 368 0.00 2.17 0.00 0.000 1030 0.000 0.033 2840 2293 3455 3485 3425 0 0 0 0 0 0 28.83 26.13 28.83

678 -1.11 -107.1 2840 2293 3487 3426 89.8 -13.5 63 689 0.00 2.15 0.00 0.000 516 0.000 0.031 2840 895 3456 3487 3426 0 0 0 0 0 0 28.83 26.21 28.83

775 -1.11 -107.1 2840 894 3488 3425 102.2 -13.7 67 786 0.00 2.17 0.00 0.000 1030 0.000 0.032 2831 2309 3457 3488 3426 0 0 0 0 0 0 28.83 26.24 28.83

1100 -1.11 -107.1 2831 2308 3487 3426 145.5 -12.4 83 1112 0.00 2.15 0.00 0.000 516 0.000 0.030 2832 906 3457 3488 3426 0 0 0 0 0 0 28.83 26.28 28.83

1152 -1.11 -107.1 2832 906 3487 3426 152.0 -12.6 85 1163 0.00 2.15 0.00 0.000 1030 0.000 0.031 2825 2305 3457 3488 3426 0 0 0 0 0 0 28.83 26.29 28.83

1483 -1.11 -107.1 2824 2304 3488 3426 190.8 -11.1 101 1493 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2304 3457 3488 3426 0 0 0 0 0 0 28.83 28.83 28.83

1783 -1.11 -107.1 2825 2304 3488 3427 223.3 -10.7 116 1794 0.00 1.90 0.00 0.000 260 0.000 0.044 2815 3590 3457 3488 3426 0 0 0 0 0 0 28.83 26.18 28.83

1870 -1.11 -107.1 2815 3590 3488 3426 231.4 -11.3 119 1882 0.00 1.83 0.00 0.000 1030 0.000 0.024 2816 2279 3457 3488 3426 0 0 0 0 0 0 28.83 26.47 28.83

2173 -1.11 -107.1 2815 2279 3488 3427 268.2 -11.8 135 2184 0.00 2.05 0.00 0.000 516 0.000 0.030 2816 917 3457 3488 3426 0 0 0 0 0 0 28.83 26.32 28.83

2228 -1.11 -107.1 1808 916 3478 3423 274.3 -12.0 137 2240 0.12 2.12 0.00 0.000 3078 0.177 0.031 2838 2301 3457 3488 3427 0 0 0 0 0 0 25.92 26.33 28.83

2554 -1.11 -107.1 2838 2301 3489 3426 312.0 -11.6 153 2565 0.00 1.90 0.00 0.000 260 0.000 0.043 2830 3586 3457 3488 3426 0 0 0 0 0 0 28.83 26.18 28.83

2606 -1.11 -107.1 2830 3586 3488 3426 318.2 -12.0 155 2617 0.00 1.80 0.00 0.000 1030 0.000 0.026 2830 2305 3457 3488 3426 0 0 0 0 0 0 28.83 26.48 28.83

2937 -1.11 -107.1 2830 2304 3488 3426 359.4 -12.2 171 2948 0.00 2.10 0.00 0.000 516 0.000 0.031 2831 912 3457 3488 3426 0 0 0 0 0 0 28.83 26.32 28.83

2968 -1.11 -107.1 2831 912 3488 3427 363.2 -12.3 172 2979 0.00 2.15 0.00 0.000 1030 0.000 0.031 2824 2304 3457 3488 3426 0 0 0 0 0 0 28.83 26.32 28.83

3300 -1.11 -107.1 2824 2304 3488 3426 403.1 -12.0 188 3310 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2304 3457 3488 3426 0 0 0 0 0 0 28.83 28.83 28.83

3599 -1.11 -107.1 2824 2304 3487 3426 438.0 -11.9 203 3610 0.00 2.12 0.00 0.000 516 0.000 0.031 2824 915 3456 3487 3426 0 0 0 0 0 0 28.83 26.32 28.83

3665 -1.11 -107.1 2824 915 3486 3426 443.9 -11.7 205 3677 0.00 2.15 0.00 0.000 1030 0.000 0.032 2816 2306 3456 3486 3426 0 0 0 0 0 0 28.83 26.32 28.83

3966 end dive: TARGET_DEPTH_EXCEEDED

state 3966 begin apogee

3975 -0.25 0.0 2816 2026 3485 3426 480.1 -10.7 221 4126 0.95 0.00 136.05 0.754 10246 0.138 0.000 3111 2026 3006 3086 2926 0 0 0 0 0 0 25.27 28.83 24.22

4128 end apogee: CONTROL_FINISHED_OK

state 4128 begin climb

4132 1.11 107.1 3111 2026 3080 2919 484.5 0.0 228 4279 1.27 2.25 131.10 0.681 10500 0.076 0.038 3560 3427 2564 2655 2474 0 0 0 0 0 0 25.25 24.98 24.04

4309 1.11 107.1 3560 3427 2647 2469 470.6 11.1 237 4319 0.00 2.12 0.00 0.000 1030 0.000 0.024 3570 2018 2557 2646 2469 0 0 0 0 0 0 28.83 25.41 28.83

4639 1.11 107.1 3570 2018 2640 2466 429.1 12.7 253 4650 0.00 2.15 0.00 0.000 516 0.000 0.034 3580 637 2552 2639 2465 0 0 0 0 0 0 28.83 26.03 28.83

4746 1.11 107.1 3580 637 2638 2465 417.2 13.1 257 4758 0.00 2.17 0.00 0.000 1030 0.000 0.030 3580 2027 2552 2638 2466 0 0 0 0 0 0 28.83 26.15 28.83

5049 1.11 107.1 3579 2027 2635 2464 374.2 13.4 273 5060 0.00 2.10 0.00 0.000 260 0.000 0.041 3580 3436 2550 2635 2465 0 0 0 0 0 0 28.83 26.13 28.83

5114 1.11 107.1 3580 3437 2634 2463 367.1 13.7 275 5127 0.12 2.08 0.00 0.000 5126 0.167 0.025 3559 2023 2548 2634 2463 0 0 0 0 0 0 25.94 26.34 28.83

5419 1.11 107.1 3559 2023 2634 2462 327.6 12.1 291 5430 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2023 2548 2634 2462 0 0 0 0 0 0 28.83 28.83 28.83

5720 1.11 107.1 3559 2023 2633 2461 291.5 12.0 306 5731 0.00 2.15 0.00 0.000 260 0.000 0.040 3552 3433 2547 2633 2461 0 0 0 0 0 0 28.83 26.20 28.83

5779 1.11 107.1 3551 3432 2632 2461 285.1 12.3 308 5790 0.00 2.05 0.00 0.000 1030 0.000 0.026 3559 2015 2546 2632 2461 0 0 0 0 0 0 28.83 26.43 28.83

6099 1.11 107.1 3559 2015 2631 2460 245.6 11.8 324 6111 0.00 2.12 0.00 0.000 516 0.000 0.035 3569 637 2545 2631 2460 0 0 0 0 0 0 28.83 26.28 28.83

6261 1.11 107.1 3569 637 2630 2460 227.5 11.8 331 6272 0.00 2.15 0.00 0.000 1030 0.000 0.030 3569 2028 2545 2630 2460 0 0 0 0 0 0 28.83 26.36 28.83

6582 1.11 107.1 3569 2028 2629 2460 189.9 12.0 347 6593 0.00 2.10 0.00 0.000 260 0.000 0.042 3569 3436 2544 2629 2460 0 0 0 0 0 0 28.83 26.20 28.83

6680 1.11 107.1 3569 3435 2629 2459 177.9 13.3 351 6691 0.00 2.05 0.00 0.000 1030 0.000 0.026 3578 2025 2544 2630 2459 0 0 0 0 0 0 28.83 26.46 28.83

7005 1.11 107.1 3577 2025 2629 2458 137.8 12.1 367 7016 0.00 2.15 0.00 0.000 260 0.000 0.041 3570 3438 2544 2629 2459 0 0 0 0 0 0 28.83 26.20 28.83

7065 1.11 107.1 3570 3439 2629 2459 131.7 11.9 369 7076 0.00 2.05 0.00 0.000 1030 0.000 0.025 3578 2013 2544 2629 2459 0 0 0 0 0 0 28.83 26.46 28.83

7386 1.11 107.1 3578 2013 2629 2458 91.8 11.9 385 7397 0.00 2.10 0.00 0.000 516 0.000 0.034 3588 637 2544 2629 2459 0 0 0 0 0 0 28.83 26.27 28.83

7572 1.11 107.1 3588 637 2628 2458 71.9 11.8 393 7586 0.12 2.15 0.00 0.000 5126 0.160 0.030 3557 2038 2544 2629 2459 0 0 0 0 0 0 25.99 26.36 28.83

7878 1.20 138.1 3557 2037 2629 2459 45.7 6.5 412 7924 0.00 2.15 32.40 0.602 8452 0.000 0.041 3556 3433 2442 2526 2359 0 0 0 0 0 0 28.83 26.09 24.96

8098 1.40 204.5 3555 3432 2522 2356 31.4 4.7 433 8206 0.25 2.05 90.68 0.568 11270 0.066 0.025 3662 2023 2171 2263 2080 0 0 0 0 0 0 26.10 26.27 24.69

8351 end climb: SURFACE_DEPTH_REACHED

state 8351 begin surface coast

8386 end surface coast: CONTROL_FINISHED_OK

state 8386 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	576	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	75	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	57	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	-194929.27	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	050114,234730,4750.208,-12518.041,36,1.1,36,17.2	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050114,235511,4750.268,-12518.042,14,1.6,15,17.2	MHEAD_RNG_PITCHd_Wd	171.9,158906,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	478

FINISH	1.6,1.012182	_24V_AH	24.0,59.176
SM_CCo	8411,64.82,0.057,0,0,1581,350.04	_10V_AH	9.9,58.068
SM_GC	2.72,8.85,0.43,64.82,0.042,0.044,0.057,342,2312,1581,-8.86,-1.50,350.04,0,0,0,0,0,0,25.87,26.03,25.82	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12523.69,050114,212147	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	258740
HUMID	56.41	DATA_FILE_SIZE	16810,477
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	119400,0
TCM_TEMP	18.30	CFSIZE	260034560,195059712
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3753824	CURRENT	0.139,330.9,1
PM_FREEKB	2153160	GPS	060114,021828,4749.924,-12518.627,38,0.8,38,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	239	126.57	nil	0	0	0.00
Roll_motor	72	44	76.75	nil	0	0	0.00
VBD_pump_during_apogee	390	753	7057.06	nil	0	0	0.00
VBD_pump_during_surface	64	56	88.07	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	8398	5	1162.35
Iridium_during_xfer	232	122	684.02	PMAR	186	9	44.26
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	4.88
TT8	1479	11	172.10
LPSleep	4909	2	106.45
TT8_Active	499	11	58.06
TT8_Sampling	1610	38	617.24
TT8_CF8	441	49	215.15
TT8_Kalman	0	0	0.00
Analog_circuits	1613	15	255.05
GPS_charging	0	0	0.00
Compass	1132	7	83.97
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
24	-1.11	-107.1	337	2326	1627	1506	0.0	0.0	0	71	0.00	0.00	-40.05	0.000	16386	0.000	0.000	338	2326	2615	2645	2585	0	0	0	0	0	0	28.83	28.83	28.83
76	-1.11	-107.1	337	2327	2650	2589	3.2	-2.5	7	125	10.32	2.20	-25.45	0.000	18948	0.239	0.044	2847	901	3449	3480	3418	0	0	0	0	0	0	25.19	26.01	26.46
356	-1.11	-107.1	1856	901	3474	3422	46.5	-16.2	46	368	0.00	2.17	0.00	0.000	1030	0.000	0.033	2840	2293	3455	3485	3425	0	0	0	0	0	0	28.83	26.13	28.83
678	-1.11	-107.1	2840	2293	3487	3426	89.8	-13.5	63	689	0.00	2.15	0.00	0.000	516	0.000	0.031	2840	895	3456	3487	3426	0	0	0	0	0	0	28.83	26.21	28.83
775	-1.11	-107.1	2840	894	3488	3425	102.2	-13.7	67	786	0.00	2.17	0.00	0.000	1030	0.000	0.032	2831	2309	3457	3488	3426	0	0	0	0	0	0	28.83	26.24	28.83
1100	-1.11	-107.1	2831	2308	3487	3426	145.5	-12.4	83	1112	0.00	2.15	0.00	0.000	516	0.000	0.030	2832	906	3457	3488	3426	0	0	0	0	0	0	28.83	26.28	28.83
1152	-1.11	-107.1	2832	906	3487	3426	152.0	-12.6	85	1163	0.00	2.15	0.00	0.000	1030	0.000	0.031	2825	2305	3457	3488	3426	0	0	0	0	0	0	28.83	26.29	28.83
1483	-1.11	-107.1	2824	2304	3488	3426	190.8	-11.1	101	1493	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2304	3457	3488	3426	0	0	0	0	0	0	28.83	28.83	28.83
1783	-1.11	-107.1	2825	2304	3488	3427	223.3	-10.7	116	1794	0.00	1.90	0.00	0.000	260	0.000	0.044	2815	3590	3457	3488	3426	0	0	0	0	0	0	28.83	26.18	28.83
1870	-1.11	-107.1	2815	3590	3488	3426	231.4	-11.3	119	1882	0.00	1.83	0.00	0.000	1030	0.000	0.024	2816	2279	3457	3488	3426	0	0	0	0	0	0	28.83	26.47	28.83
2173	-1.11	-107.1	2815	2279	3488	3427	268.2	-11.8	135	2184	0.00	2.05	0.00	0.000	516	0.000	0.030	2816	917	3457	3488	3426	0	0	0	0	0	0	28.83	26.32	28.83
2228	-1.11	-107.1	1808	916	3478	3423	274.3	-12.0	137	2240	0.12	2.12	0.00	0.000	3078	0.177	0.031	2838	2301	3457	3488	3427	0	0	0	0	0	0	25.92	26.33	28.83
2554	-1.11	-107.1	2838	2301	3489	3426	312.0	-11.6	153	2565	0.00	1.90	0.00	0.000	260	0.000	0.043	2830	3586	3457	3488	3426	0	0	0	0	0	0	28.83	26.18	28.83
2606	-1.11	-107.1	2830	3586	3488	3426	318.2	-12.0	155	2617	0.00	1.80	0.00	0.000	1030	0.000	0.026	2830	2305	3457	3488	3426	0	0	0	0	0	0	28.83	26.48	28.83
2937	-1.11	-107.1	2830	2304	3488	3426	359.4	-12.2	171	2948	0.00	2.10	0.00	0.000	516	0.000	0.031	2831	912	3457	3488	3426	0	0	0	0	0	0	28.83	26.32	28.83
2968	-1.11	-107.1	2831	912	3488	3427	363.2	-12.3	172	2979	0.00	2.15	0.00	0.000	1030	0.000	0.031	2824	2304	3457	3488	3426	0	0	0	0	0	0	28.83	26.32	28.83
3300	-1.11	-107.1	2824	2304	3488	3426	403.1	-12.0	188	3310	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2304	3457	3488	3426	0	0	0	0	0	0	28.83	28.83	28.83
3599	-1.11	-107.1	2824	2304	3487	3426	438.0	-11.9	203	3610	0.00	2.12	0.00	0.000	516	0.000	0.031	2824	915	3456	3487	3426	0	0	0	0	0	0	28.83	26.32	28.83
3665	-1.11	-107.1	2824	915	3486	3426	443.9	-11.7	205	3677	0.00	2.15	0.00	0.000	1030	0.000	0.032	2816	2306	3456	3486	3426	0	0	0	0	0	0	28.83	26.32	28.83
3966	end dive: TARGET_DEPTH_EXCEEDED
state	3966	begin apogee
3975	-0.25	0.0	2816	2026	3485	3426	480.1	-10.7	221	4126	0.95	0.00	136.05	0.754	10246	0.138	0.000	3111	2026	3006	3086	2926	0	0	0	0	0	0	25.27	28.83	24.22
4128	end apogee: CONTROL_FINISHED_OK
state	4128	begin climb
4132	1.11	107.1	3111	2026	3080	2919	484.5	0.0	228	4279	1.27	2.25	131.10	0.681	10500	0.076	0.038	3560	3427	2564	2655	2474	0	0	0	0	0	0	25.25	24.98	24.04
4309	1.11	107.1	3560	3427	2647	2469	470.6	11.1	237	4319	0.00	2.12	0.00	0.000	1030	0.000	0.024	3570	2018	2557	2646	2469	0	0	0	0	0	0	28.83	25.41	28.83
4639	1.11	107.1	3570	2018	2640	2466	429.1	12.7	253	4650	0.00	2.15	0.00	0.000	516	0.000	0.034	3580	637	2552	2639	2465	0	0	0	0	0	0	28.83	26.03	28.83
4746	1.11	107.1	3580	637	2638	2465	417.2	13.1	257	4758	0.00	2.17	0.00	0.000	1030	0.000	0.030	3580	2027	2552	2638	2466	0	0	0	0	0	0	28.83	26.15	28.83
5049	1.11	107.1	3579	2027	2635	2464	374.2	13.4	273	5060	0.00	2.10	0.00	0.000	260	0.000	0.041	3580	3436	2550	2635	2465	0	0	0	0	0	0	28.83	26.13	28.83
5114	1.11	107.1	3580	3437	2634	2463	367.1	13.7	275	5127	0.12	2.08	0.00	0.000	5126	0.167	0.025	3559	2023	2548	2634	2463	0	0	0	0	0	0	25.94	26.34	28.83
5419	1.11	107.1	3559	2023	2634	2462	327.6	12.1	291	5430	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2023	2548	2634	2462	0	0	0	0	0	0	28.83	28.83	28.83
5720	1.11	107.1	3559	2023	2633	2461	291.5	12.0	306	5731	0.00	2.15	0.00	0.000	260	0.000	0.040	3552	3433	2547	2633	2461	0	0	0	0	0	0	28.83	26.20	28.83
5779	1.11	107.1	3551	3432	2632	2461	285.1	12.3	308	5790	0.00	2.05	0.00	0.000	1030	0.000	0.026	3559	2015	2546	2632	2461	0	0	0	0	0	0	28.83	26.43	28.83
6099	1.11	107.1	3559	2015	2631	2460	245.6	11.8	324	6111	0.00	2.12	0.00	0.000	516	0.000	0.035	3569	637	2545	2631	2460	0	0	0	0	0	0	28.83	26.28	28.83
6261	1.11	107.1	3569	637	2630	2460	227.5	11.8	331	6272	0.00	2.15	0.00	0.000	1030	0.000	0.030	3569	2028	2545	2630	2460	0	0	0	0	0	0	28.83	26.36	28.83
6582	1.11	107.1	3569	2028	2629	2460	189.9	12.0	347	6593	0.00	2.10	0.00	0.000	260	0.000	0.042	3569	3436	2544	2629	2460	0	0	0	0	0	0	28.83	26.20	28.83
6680	1.11	107.1	3569	3435	2629	2459	177.9	13.3	351	6691	0.00	2.05	0.00	0.000	1030	0.000	0.026	3578	2025	2544	2630	2459	0	0	0	0	0	0	28.83	26.46	28.83
7005	1.11	107.1	3577	2025	2629	2458	137.8	12.1	367	7016	0.00	2.15	0.00	0.000	260	0.000	0.041	3570	3438	2544	2629	2459	0	0	0	0	0	0	28.83	26.20	28.83
7065	1.11	107.1	3570	3439	2629	2459	131.7	11.9	369	7076	0.00	2.05	0.00	0.000	1030	0.000	0.025	3578	2013	2544	2629	2459	0	0	0	0	0	0	28.83	26.46	28.83
7386	1.11	107.1	3578	2013	2629	2458	91.8	11.9	385	7397	0.00	2.10	0.00	0.000	516	0.000	0.034	3588	637	2544	2629	2459	0	0	0	0	0	0	28.83	26.27	28.83
7572	1.11	107.1	3588	637	2628	2458	71.9	11.8	393	7586	0.12	2.15	0.00	0.000	5126	0.160	0.030	3557	2038	2544	2629	2459	0	0	0	0	0	0	25.99	26.36	28.83
7878	1.20	138.1	3557	2037	2629	2459	45.7	6.5	412	7924	0.00	2.15	32.40	0.602	8452	0.000	0.041	3556	3433	2442	2526	2359	0	0	0	0	0	0	28.83	26.09	24.96
8098	1.40	204.5	3555	3432	2522	2356	31.4	4.7	433	8206	0.25	2.05	90.68	0.568	11270	0.066	0.025	3662	2023	2171	2263	2080	0	0	0	0	0	0	26.10	26.27	24.69
8351	end climb: SURFACE_DEPTH_REACHED
state	8351	begin surface coast
8386	end surface coast: CONTROL_FINISHED_OK
state	8386	begin surface