Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 6 * 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 6 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 18 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 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 8 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 2700 DEVICE1 -1

D_FINISH 0 PROTOCOL 9 VBD_DBAND 2 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 163 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 0.00069999998 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 330 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

T_MISSION 360 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 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 N_GPS 100440 DBDW 0 COMPASS2_DEVICE 149

T_NO_W 120 T_RSLEEP 1 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_LOITER 0 STROBE 0 PITCH_W_DBAND 0 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 100 PITCH_MAX 3850 MINV_10V 10 SEABIRD_T_G 0.0043979231

T_WATCHDOG 10 C_PITCH 3455 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 150 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 36 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 1.023 PITCH_AD_RATE 165 AD7714Ch0Gain 1 SC_RECORDABOVE 2000.0

MASS 53361 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.029999999 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 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 0.0027000001 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0098999999 C_ROLL_DIVE 1900 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_C 2.1999999e-06 C_ROLL_CLIMB 2100 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 36 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 0.00069999998 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0027000001 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0098999999 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -7 HD_C 2.1999999e-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 330

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 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 360

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 1

C_PITCH 3455 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERS 3 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 1900 MASS 53361 RHO 1.023 T_WATCHDOG 10

C_VBD 2700 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 150 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 6 NOCOMM_ACTION 163 R_PORT_OVSHOOT 18 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 17 VBD_MIN 470

D_BOOST 20 N_FILEKB 8 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 0

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_H 1.1076213 XPDR_DEVICE 24

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017588359 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021615655 XPDR_VALID 1

D_SAFE 0 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_G 0.0043979231

Pre-dive calculations and measurements:

GPS1 160615,224421,4744.4731,-12506.6006,16,0.9,30,16.5,0.3,266.4,8,6.2 SPEED_LIMITS 0.173,0.264

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 241.2,165216,-16.9,-10.000,-20.75,2244

_SM_ANGLEo -77.0 D_GRID 266

GPS2 160615,225108,4744.4346,-12506.5752,2,0.9,3,16.5,0.5,233.0,8,9.8

Post-dive calculations and measurements:

FINISH 0.5,1.024063 _10V_AH 13.13,0.000

SM_CCo 5410,52.88,0.085,0,0,1068,400.08 FG_AHR_24Vo 0.000

SM_GC 1.10,10.20,0.40,52.88,0.068,0.114,0.085,92,1883,1068,-10.46,0.20,400.08,0,0,0,0,0,0,14.46,14.45,14.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12508.44,160615,213634 MEM 286436

TT8_MAMPS 0.019474,0.019474 DATA_FILE_SIZE 20136,596

HUMID 51.22 CAP_FILE_SIZE 100741,0

INTERNAL_PRESSURE 9.0304 CFSIZE 260034560,255832064

TCM_TEMP 18.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.077,129.18,1

SC_FREEKB 3935744 GPS 170615,002409,4744.170,-12507.325,27,0.9,33,16.5,1.2,149.5,12,6.1

_24V_AH 13.58,2.627

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 415 155.27 nil 0 0 0.00

Roll_motor 36 2237 1118.24 nil 0 0 0.00

VBD_pump_during_apogee 317 1009 4354.59 nil 0 0 0.00

VBD_pump_during_surface 52 84 60.97 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 5390 7 568.95

Iridium_during_xfer 193 133 352.11 PMAR 2935 8 357.96

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 15 1.02

TT8 1336 10 190.80

LPSleep 2371 2 68.19

TT8_Active 484 10 69.19

TT8_Sampling 1224 29 475.96

TT8_CF8 455 35 212.68

TT8_Kalman 0 0 0.00

Analog_circuits 1287 11 196.03

GPS_charging 0 0 0.00

Compass 933 16 202.01

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

29 -0.57 -146.6 99 1914 971 1172 0.0 0.0 0 110 0.00 0.00 -77.30 0.000 16386 0.000 0.000 99 1909 3137 3107 3167 0 0 0 0 0 0 14.68 28.83 14.70

117 -0.57 -146.6 99 1908 3109 3168 3.7 -5.2 8 143 14.65 2.83 -2.60 0.000 18692 0.415 2.238 3251 3315 3301 3269 3333 0 0 0 0 0 0 14.27 13.64 14.45

308 -0.49 -146.6 3256 3314 3268 3337 44.5 -14.3 43 319 0.15 2.53 0.00 0.000 3078 0.239 0.103 3293 1905 3302 3268 3337 0 0 0 0 0 0 14.40 14.45 14.54

500 -0.55 -146.6 3293 1905 3268 3339 65.9 -11.2 62 507 0.00 2.53 0.00 0.000 260 0.000 0.113 3293 3312 3303 3268 3338 0 0 0 0 0 0 14.69 14.48 14.72

624 -0.61 -146.6 3293 3311 3268 3339 77.3 -7.9 84 632 0.10 2.53 0.00 0.000 5126 0.142 0.103 3239 1890 3303 3268 3338 0 0 0 0 0 0 14.54 14.51 14.61

824 -0.55 -146.6 3242 1889 3268 3339 100.4 -11.2 104 832 0.08 0.00 0.00 0.000 2054 0.291 0.000 3266 1888 3304 3269 3339 0 0 0 0 0 0 14.45 14.62 14.55

1013 -0.55 -146.6 3266 1887 3268 3340 119.8 -9.7 123 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 1888 3304 3268 3340 0 0 0 0 0 0 14.75 14.77 14.76

1204 -0.59 -146.6 3266 1888 3268 3340 135.5 -7.3 142 1212 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 1887 3303 3268 3339 0 0 0 0 0 0 14.76 14.81 14.78

1394 -0.63 -146.6 3266 1888 3268 3339 150.8 -9.0 161 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 1888 3303 3268 3339 0 0 0 0 0 0 14.77 14.79 14.78

1584 -0.68 -146.6 3266 1888 3268 3339 165.8 -6.8 180 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 1885 3306 3273 3339 0 0 0 0 0 0 14.77 14.79 14.79

1774 -0.74 -146.6 3267 1885 3268 3336 178.2 -6.5 199 1783 0.10 0.00 0.00 0.000 4102 0.145 0.000 3208 1884 3304 3267 3341 0 0 0 0 0 0 14.62 14.66 14.62

1964 -0.64 -146.6 3207 1888 3268 3339 201.0 -11.2 218 1973 0.10 0.00 0.00 0.000 2054 0.273 0.000 3240 1887 3302 3268 3336 0 0 0 0 0 0 14.48 14.64 14.59

2154 -0.64 -146.6 3240 1886 3267 3339 218.7 -9.2 237 2162 0.00 0.00 0.00 0.000 6 0.000 0.000 3240 1887 3303 3267 3339 0 0 0 0 0 0 14.79 14.84 14.81

2345 -0.64 -146.6 3240 1887 3266 3339 233.0 -6.4 256 2352 0.00 2.50 0.00 0.000 516 0.000 0.122 3240 493 3300 3262 3339 0 0 0 0 0 0 14.79 14.56 14.81

2432 -0.58 -146.6 3240 494 3261 3340 241.1 -10.5 271 2442 0.00 2.47 0.00 0.000 1030 0.000 0.103 3240 1897 3303 3266 3340 0 0 0 0 0 0 14.67 14.57 14.69

2629 -0.54 -146.6 3240 1900 3265 3340 257.1 -7.1 284 2633 0.12 0.00 0.00 0.000 2054 0.249 0.000 3277 1900 3303 3267 3340 0 0 0 0 0 0 14.51 14.69 14.66

2768 end dive: TARGET_DEPTH_EXCEEDED

state 2768 begin apogee

2780 -0.19 0.0 3278 2103 3265 3340 266.8 -6.1 289 2896 0.35 0.00 109.93 1.010 10246 0.188 0.000 3388 2103 2698 2611 2785 0 0 0 0 0 0 14.54 14.16 13.74

2899 end apogee: CONTROL_FINISHED_OK

state 2899 begin climb

2904 0.57 146.6 3388 2103 2606 2783 268.3 0.0 293 3034 0.75 2.72 109.40 0.979 10756 0.143 0.119 3636 682 2094 1946 2242 0 0 0 0 0 0 14.12 13.91 13.58

3219 0.42 146.6 3636 681 1945 2240 230.9 15.1 353 3231 0.17 2.58 0.00 0.000 5126 0.241 0.104 3595 2113 2092 1945 2240 0 0 0 0 0 0 14.23 14.33 14.38

3422 0.42 146.6 3595 2112 1945 2240 206.9 10.8 373 3433 0.00 2.55 0.00 0.000 260 0.000 0.116 3595 3515 2092 1945 2240 0 0 0 0 0 0 14.62 14.39 14.64

3499 0.38 146.6 3595 3515 1945 2240 198.8 11.8 385 3510 0.00 2.55 0.00 0.000 1030 0.000 0.104 3602 2098 2091 1946 2237 0 0 0 0 0 0 14.53 14.43 14.55

3701 0.34 146.6 3599 2098 1948 2240 176.2 11.6 405 3712 0.10 0.00 0.00 0.000 4102 0.270 0.000 3569 2097 2097 1948 2247 0 0 0 0 0 0 14.42 14.58 14.52

3895 0.41 148.3 3569 2097 1948 2240 157.1 9.9 424 3906 0.00 0.00 0.00 0.000 6 0.000 0.000 3569 2098 2091 1944 2239 0 0 0 0 0 0 14.73 14.75 14.75

4087 0.50 178.7 3569 2097 1949 2240 139.5 8.6 443 4126 0.10 2.58 25.48 0.874 10500 0.146 0.112 3629 3514 1963 1824 2103 0 0 0 0 0 0 14.57 14.40 14.10

4211 0.40 178.7 3629 3514 1828 2095 123.4 15.7 464 4223 0.20 2.55 0.00 0.000 5126 0.247 0.104 3586 2090 1959 1823 2095 0 0 0 0 0 0 14.39 14.46 14.54

4405 0.47 201.6 3586 2090 1823 2095 104.5 9.0 483 4433 0.00 0.00 18.55 0.839 8198 0.000 0.000 3586 2090 1871 1725 2018 0 0 0 0 0 0 14.72 14.49 14.11

4616 0.54 201.6 3586 2090 1719 2007 83.2 10.2 504 4627 0.10 0.00 0.00 0.000 2054 0.142 0.000 3647 2091 1863 1719 2007 0 0 0 0 0 0 14.52 14.57 14.55

4809 0.46 201.6 3646 2090 1719 2007 56.8 12.6 523 4821 0.12 2.60 0.00 0.000 4356 0.243 0.112 3612 3518 1863 1719 2007 0 0 0 0 0 0 14.45 14.50 14.54

4972 0.51 214.6 3609 3517 1718 2006 38.5 9.4 552 4989 0.00 2.53 5.10 0.748 9222 0.000 0.103 3611 2107 1827 1678 1976 0 0 0 0 0 0 14.64 14.54 14.16

5181 0.61 274.5 3611 2105 1705 1976 23.3 7.3 573 5240 0.12 0.00 49.10 0.728 10758 0.140 0.000 3675 2105 1568 1420 1717 0 0 0 0 0 0 14.59 14.42 14.09

5347 end climb: SURFACE_DEPTH_REACHED

state 5347 begin surface coast

5379 end surface coast: CONTROL_FINISHED_OK

state 5379 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	6	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	18	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	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	8	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	2700	DEVICE1	-1
D_FINISH	0	PROTOCOL	9	VBD_DBAND	2	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	163	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	0.00069999998	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	330	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
T_MISSION	360	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	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	N_GPS	100440	DBDW	0	COMPASS2_DEVICE	149
T_NO_W	120	T_RSLEEP	1	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_LOITER	0	STROBE	0	PITCH_W_DBAND	0	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	100	PITCH_MAX	3850	MINV_10V	10	SEABIRD_T_G	0.0043979231
T_WATCHDOG	10	C_PITCH	3455	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	150	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	36	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	1.023	PITCH_AD_RATE	165	AD7714Ch0Gain	1	SC_RECORDABOVE	2000.0
MASS	53361	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.029999999	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	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	0.0027000001	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0098999999	C_ROLL_DIVE	1900	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_C	2.1999999e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0

GPS1	160615,224421,4744.4731,-12506.6006,16,0.9,30,16.5,0.3,266.4,8,6.2	SPEED_LIMITS	0.173,0.264
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	241.2,165216,-16.9,-10.000,-20.75,2244
_SM_ANGLEo	-77.0	D_GRID	266
GPS2	160615,225108,4744.4346,-12506.5752,2,0.9,3,16.5,0.5,233.0,8,9.8

FINISH	0.5,1.024063	_10V_AH	13.13,0.000
SM_CCo	5410,52.88,0.085,0,0,1068,400.08	FG_AHR_24Vo	0.000
SM_GC	1.10,10.20,0.40,52.88,0.068,0.114,0.085,92,1883,1068,-10.46,0.20,400.08,0,0,0,0,0,0,14.46,14.45,14.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12508.44,160615,213634	MEM	286436
TT8_MAMPS	0.019474,0.019474	DATA_FILE_SIZE	20136,596
HUMID	51.22	CAP_FILE_SIZE	100741,0
INTERNAL_PRESSURE	9.0304	CFSIZE	260034560,255832064
TCM_TEMP	18.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.077,129.18,1
SC_FREEKB	3935744	GPS	170615,002409,4744.170,-12507.325,27,0.9,33,16.5,1.2,149.5,12,6.1
_24V_AH	13.58,2.627

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	415	155.27	nil	0	0	0.00
Roll_motor	36	2237	1118.24	nil	0	0	0.00
VBD_pump_during_apogee	317	1009	4354.59	nil	0	0	0.00
VBD_pump_during_surface	52	84	60.97	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	5390	7	568.95
Iridium_during_xfer	193	133	352.11	PMAR	2935	8	357.96
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	15	1.02
TT8	1336	10	190.80
LPSleep	2371	2	68.19
TT8_Active	484	10	69.19
TT8_Sampling	1224	29	475.96
TT8_CF8	455	35	212.68
TT8_Kalman	0	0	0.00
Analog_circuits	1287	11	196.03
GPS_charging	0	0	0.00
Compass	933	16	202.01
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
29	-0.57	-146.6	99	1914	971	1172	0.0	0.0	0	110	0.00	0.00	-77.30	0.000	16386	0.000	0.000	99	1909	3137	3107	3167	0	0	0	0	0	0	14.68	28.83	14.70
117	-0.57	-146.6	99	1908	3109	3168	3.7	-5.2	8	143	14.65	2.83	-2.60	0.000	18692	0.415	2.238	3251	3315	3301	3269	3333	0	0	0	0	0	0	14.27	13.64	14.45
308	-0.49	-146.6	3256	3314	3268	3337	44.5	-14.3	43	319	0.15	2.53	0.00	0.000	3078	0.239	0.103	3293	1905	3302	3268	3337	0	0	0	0	0	0	14.40	14.45	14.54
500	-0.55	-146.6	3293	1905	3268	3339	65.9	-11.2	62	507	0.00	2.53	0.00	0.000	260	0.000	0.113	3293	3312	3303	3268	3338	0	0	0	0	0	0	14.69	14.48	14.72
624	-0.61	-146.6	3293	3311	3268	3339	77.3	-7.9	84	632	0.10	2.53	0.00	0.000	5126	0.142	0.103	3239	1890	3303	3268	3338	0	0	0	0	0	0	14.54	14.51	14.61
824	-0.55	-146.6	3242	1889	3268	3339	100.4	-11.2	104	832	0.08	0.00	0.00	0.000	2054	0.291	0.000	3266	1888	3304	3269	3339	0	0	0	0	0	0	14.45	14.62	14.55
1013	-0.55	-146.6	3266	1887	3268	3340	119.8	-9.7	123	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	1888	3304	3268	3340	0	0	0	0	0	0	14.75	14.77	14.76
1204	-0.59	-146.6	3266	1888	3268	3340	135.5	-7.3	142	1212	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	1887	3303	3268	3339	0	0	0	0	0	0	14.76	14.81	14.78
1394	-0.63	-146.6	3266	1888	3268	3339	150.8	-9.0	161	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	1888	3303	3268	3339	0	0	0	0	0	0	14.77	14.79	14.78
1584	-0.68	-146.6	3266	1888	3268	3339	165.8	-6.8	180	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	1885	3306	3273	3339	0	0	0	0	0	0	14.77	14.79	14.79
1774	-0.74	-146.6	3267	1885	3268	3336	178.2	-6.5	199	1783	0.10	0.00	0.00	0.000	4102	0.145	0.000	3208	1884	3304	3267	3341	0	0	0	0	0	0	14.62	14.66	14.62
1964	-0.64	-146.6	3207	1888	3268	3339	201.0	-11.2	218	1973	0.10	0.00	0.00	0.000	2054	0.273	0.000	3240	1887	3302	3268	3336	0	0	0	0	0	0	14.48	14.64	14.59
2154	-0.64	-146.6	3240	1886	3267	3339	218.7	-9.2	237	2162	0.00	0.00	0.00	0.000	6	0.000	0.000	3240	1887	3303	3267	3339	0	0	0	0	0	0	14.79	14.84	14.81
2345	-0.64	-146.6	3240	1887	3266	3339	233.0	-6.4	256	2352	0.00	2.50	0.00	0.000	516	0.000	0.122	3240	493	3300	3262	3339	0	0	0	0	0	0	14.79	14.56	14.81
2432	-0.58	-146.6	3240	494	3261	3340	241.1	-10.5	271	2442	0.00	2.47	0.00	0.000	1030	0.000	0.103	3240	1897	3303	3266	3340	0	0	0	0	0	0	14.67	14.57	14.69
2629	-0.54	-146.6	3240	1900	3265	3340	257.1	-7.1	284	2633	0.12	0.00	0.00	0.000	2054	0.249	0.000	3277	1900	3303	3267	3340	0	0	0	0	0	0	14.51	14.69	14.66
2768	end dive: TARGET_DEPTH_EXCEEDED
state	2768	begin apogee
2780	-0.19	0.0	3278	2103	3265	3340	266.8	-6.1	289	2896	0.35	0.00	109.93	1.010	10246	0.188	0.000	3388	2103	2698	2611	2785	0	0	0	0	0	0	14.54	14.16	13.74
2899	end apogee: CONTROL_FINISHED_OK
state	2899	begin climb
2904	0.57	146.6	3388	2103	2606	2783	268.3	0.0	293	3034	0.75	2.72	109.40	0.979	10756	0.143	0.119	3636	682	2094	1946	2242	0	0	0	0	0	0	14.12	13.91	13.58
3219	0.42	146.6	3636	681	1945	2240	230.9	15.1	353	3231	0.17	2.58	0.00	0.000	5126	0.241	0.104	3595	2113	2092	1945	2240	0	0	0	0	0	0	14.23	14.33	14.38
3422	0.42	146.6	3595	2112	1945	2240	206.9	10.8	373	3433	0.00	2.55	0.00	0.000	260	0.000	0.116	3595	3515	2092	1945	2240	0	0	0	0	0	0	14.62	14.39	14.64
3499	0.38	146.6	3595	3515	1945	2240	198.8	11.8	385	3510	0.00	2.55	0.00	0.000	1030	0.000	0.104	3602	2098	2091	1946	2237	0	0	0	0	0	0	14.53	14.43	14.55
3701	0.34	146.6	3599	2098	1948	2240	176.2	11.6	405	3712	0.10	0.00	0.00	0.000	4102	0.270	0.000	3569	2097	2097	1948	2247	0	0	0	0	0	0	14.42	14.58	14.52
3895	0.41	148.3	3569	2097	1948	2240	157.1	9.9	424	3906	0.00	0.00	0.00	0.000	6	0.000	0.000	3569	2098	2091	1944	2239	0	0	0	0	0	0	14.73	14.75	14.75
4087	0.50	178.7	3569	2097	1949	2240	139.5	8.6	443	4126	0.10	2.58	25.48	0.874	10500	0.146	0.112	3629	3514	1963	1824	2103	0	0	0	0	0	0	14.57	14.40	14.10
4211	0.40	178.7	3629	3514	1828	2095	123.4	15.7	464	4223	0.20	2.55	0.00	0.000	5126	0.247	0.104	3586	2090	1959	1823	2095	0	0	0	0	0	0	14.39	14.46	14.54
4405	0.47	201.6	3586	2090	1823	2095	104.5	9.0	483	4433	0.00	0.00	18.55	0.839	8198	0.000	0.000	3586	2090	1871	1725	2018	0	0	0	0	0	0	14.72	14.49	14.11
4616	0.54	201.6	3586	2090	1719	2007	83.2	10.2	504	4627	0.10	0.00	0.00	0.000	2054	0.142	0.000	3647	2091	1863	1719	2007	0	0	0	0	0	0	14.52	14.57	14.55
4809	0.46	201.6	3646	2090	1719	2007	56.8	12.6	523	4821	0.12	2.60	0.00	0.000	4356	0.243	0.112	3612	3518	1863	1719	2007	0	0	0	0	0	0	14.45	14.50	14.54
4972	0.51	214.6	3609	3517	1718	2006	38.5	9.4	552	4989	0.00	2.53	5.10	0.748	9222	0.000	0.103	3611	2107	1827	1678	1976	0	0	0	0	0	0	14.64	14.54	14.16
5181	0.61	274.5	3611	2105	1705	1976	23.3	7.3	573	5240	0.12	0.00	49.10	0.728	10758	0.140	0.000	3675	2105	1568	1420	1717	0	0	0	0	0	0	14.59	14.42	14.09
5347	end climb: SURFACE_DEPTH_REACHED
state	5347	begin surface coast
5379	end surface coast: CONTROL_FINISHED_OK
state	5379	begin surface