Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 679 * 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 679 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 60 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 48 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_TGT 990 SM_CC 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 -195061.59 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 -195061.59

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 60 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 48 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 163 SC_PROFILE 3.0 VBD_MIN 448

DEVICE6 -1 N_DIVES 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 679 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 260114,003125,4750.164,-12515.006,17,0.8,19,17.2 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 2.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260114,003949,4750.160,-12514.964,19,0.8,20,17.2 MHEAD_RNG_PITCHd_Wd 209.9,161957,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 441

Post-dive calculations and measurements:

FINISH 3.3,1.024149 _24V_AH 24.0,69.058

SM_CCo 8229,76.50,0.058,0,0,1582,350.04 _10V_AH 9.3,66.948

SM_GC 2.61,8.85,1.67,76.50,0.047,0.025,0.058,332,2322,1582,-8.88,2.21,350.04,0,0,0,0,0,0,25.97,26.26,25.87 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12512.13,250114,222249 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713,0.027713 MEM 258748

HUMID 56.41 DATA_FILE_SIZE 16763,464

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 116330,0

TCM_TEMP 18.00 CFSIZE 260034560,186245120

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

SC_FREEKB 3720960 CURRENT 0.058,348.2,1

PM_FREEKB 1563504 GPS 260114,030004,4749.852,-12515.916,24,0.8,25,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 235 123.28 nil 0 0 0.00

Roll_motor 67 58 93.87 nil 0 0 0.00

VBD_pump_during_apogee 352 727 6151.28 nil 0 0 0.00

VBD_pump_during_surface 76 58 106.75 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 8213 4 954.81

Iridium_during_xfer 252 120 731.02 PMAR 189 10 45.51

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.08

TT8 1473 11 160.97

LPSleep 4773 2 97.21

TT8_Active 486 11 53.13

TT8_Sampling 1602 38 576.80

TT8_CF8 478 49 218.87

TT8_Kalman 0 0 0.00

Analog_circuits 1581 15 234.83

GPS_charging 0 0 0.00

Compass 1119 7 78.01

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

25 -1.11 -107.1 340 2282 1616 1511 0.0 0.0 0 76 0.00 0.00 -44.53 0.000 16386 0.000 0.000 340 2282 2755 2773 2738 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.11 -107.1 340 2282 2774 2742 3.3 -1.4 8 119 10.27 2.08 -15.60 0.000 18692 0.236 0.058 2828 3597 3450 3470 3430 0 0 0 0 0 0 25.02 25.96 26.50

210 -1.11 -107.1 1824 3596 3463 3434 28.5 -20.4 28 223 0.00 1.88 0.00 0.000 1030 0.000 0.026 2830 2276 3456 3475 3437 0 0 0 0 0 0 28.83 26.22 28.83

524 -1.11 -107.1 2829 2273 3478 3437 73.7 -12.7 50 535 0.00 2.00 0.00 0.000 260 0.000 0.044 2822 3598 3457 3478 3437 0 0 0 0 0 0 28.83 26.12 28.83

766 -1.11 -107.1 2822 3598 3478 3437 105.2 -13.3 61 777 0.00 1.83 0.00 0.000 1030 0.000 0.025 2822 2293 3458 3479 3437 0 0 0 0 0 0 28.83 26.41 28.83

1088 -1.11 -107.1 2822 2293 3480 3437 146.1 -12.5 77 1099 0.00 2.08 0.00 0.000 516 0.000 0.031 2822 911 3458 3480 3437 0 0 0 0 0 0 28.83 26.32 28.83

1194 -1.11 -107.1 2822 911 3480 3438 157.1 -12.1 81 1207 0.00 2.15 0.00 0.000 1030 0.000 0.031 2814 2319 3458 3480 3437 0 0 0 0 0 0 28.83 26.33 28.83

1501 -1.11 -107.1 2814 2318 3480 3437 195.6 -11.7 97 1511 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2318 3458 3480 3437 0 0 0 0 0 0 28.83 28.83 28.83

1801 -1.11 -107.1 2814 2318 3479 3437 229.8 -11.5 112 1813 0.00 2.12 0.00 0.000 516 0.000 0.030 2814 916 3458 3480 3437 0 0 0 0 0 0 28.83 26.34 28.83

1853 -1.11 -107.1 2814 916 3480 3437 235.9 -11.6 114 1864 0.15 2.12 0.00 0.000 3078 0.171 0.031 2845 2313 3458 3480 3437 0 0 0 0 0 0 25.89 26.36 28.83

2184 -1.11 -107.1 2843 2312 3480 3437 271.6 -10.7 130 2195 0.00 2.12 0.00 0.000 516 0.000 0.030 2845 913 3458 3480 3437 0 0 0 0 0 0 28.83 26.36 28.83

2236 -1.11 -107.1 2845 913 3480 3437 277.2 -10.9 132 2247 0.00 2.15 0.00 0.000 1030 0.000 0.031 2838 2306 3458 3479 3437 0 0 0 0 0 0 28.83 26.36 28.83

2567 -1.11 -107.1 2838 2305 3480 3437 311.1 -9.8 148 2578 0.00 2.12 0.00 0.000 516 0.000 0.030 2838 910 3458 3480 3437 0 0 0 0 0 0 28.83 26.36 28.83

2608 -1.11 -107.1 2838 910 3480 3437 314.2 -9.7 149 2619 0.00 2.15 0.00 0.000 1030 0.000 0.031 2829 2313 3458 3480 3437 0 0 0 0 0 0 28.83 26.36 28.83

2928 -1.11 -107.1 2828 2314 3480 3437 346.4 -10.1 165 2940 0.00 2.15 0.00 0.000 516 0.000 0.030 2829 910 3458 3480 3437 0 0 0 0 0 0 28.83 26.36 28.83

3005 -1.11 -107.1 2828 910 3480 3436 353.8 -10.4 168 3016 0.00 2.12 0.00 0.000 1030 0.000 0.031 2820 2304 3459 3482 3437 0 0 0 0 0 0 28.83 26.36 28.83

3332 -1.11 -107.1 2819 2304 3479 3436 390.2 -11.3 184 3343 0.00 2.10 0.00 0.000 516 0.000 0.030 2819 917 3457 3479 3436 0 0 0 0 0 0 28.83 26.35 28.83

3474 -1.11 -107.1 2819 917 3479 3437 405.5 -11.4 190 3486 0.12 2.12 0.00 0.000 3078 0.176 0.032 2841 2309 3458 3480 3436 0 0 0 0 0 0 25.94 26.34 28.83

3796 -1.11 -107.1 2841 2308 3479 3436 437.9 -8.8 206 3806 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2308 3457 3479 3436 0 0 0 0 0 0 28.83 28.83 28.83

3832 end dive: TARGET_DEPTH_EXCEEDED

state 3832 begin apogee

3841 -0.25 0.0 2842 2020 3479 3436 441.3 -8.5 208 3991 0.85 0.00 135.18 0.728 10246 0.132 0.000 3113 2019 3008 3080 2936 0 0 0 0 0 0 25.44 28.83 24.06

3993 end apogee: CONTROL_FINISHED_OK

state 3993 begin climb

3997 1.11 107.1 3112 2020 3075 2933 444.8 0.0 215 4145 1.25 0.00 133.35 0.662 10758 0.077 0.000 3553 2019 2571 2654 2489 0 0 0 0 0 0 25.29 28.83 24.01

4439 1.11 107.1 3553 2019 2633 2477 400.5 11.9 238 4450 0.00 2.15 0.00 0.000 516 0.000 0.035 3563 638 2555 2633 2477 0 0 0 0 0 0 28.83 26.04 28.83

4500 1.11 107.1 3562 638 2631 2477 394.2 11.5 240 4511 0.00 2.17 0.00 0.000 1030 0.000 0.028 3563 2029 2553 2631 2476 0 0 0 0 0 0 28.83 26.15 28.83

4821 1.11 107.1 3562 2026 2630 2475 355.4 11.6 256 4831 0.00 0.00 0.00 0.000 6 0.000 0.000 3563 2026 2552 2629 2475 0 0 0 0 0 0 28.83 28.83 28.83

5121 1.11 107.1 3562 2026 2629 2474 320.0 11.9 271 5132 0.00 2.17 0.00 0.000 516 0.000 0.034 3571 638 2551 2629 2474 0 0 0 0 0 0 28.83 26.27 28.83

5195 1.11 107.1 2784 638 2575 2465 311.4 11.9 274 5206 0.00 2.15 0.00 0.000 1030 0.000 0.029 3571 2037 2551 2629 2474 0 0 0 0 0 0 28.83 26.32 28.83

5522 1.11 107.1 3571 2036 2628 2473 271.6 12.3 290 5533 0.00 2.17 0.00 0.000 516 0.000 0.033 3578 646 2550 2628 2473 0 0 0 0 0 0 28.83 26.30 28.83

5577 1.11 107.1 3578 646 2628 2473 265.2 12.3 292 5588 0.00 2.15 0.00 0.000 1030 0.000 0.030 3578 2038 2550 2628 2473 0 0 0 0 0 0 28.83 26.35 28.83

5903 1.11 107.1 3578 2038 2626 2472 224.5 12.1 308 5914 0.00 2.08 0.00 0.000 260 0.000 0.041 3578 3434 2549 2626 2472 0 0 0 0 0 0 28.83 26.25 28.83

5956 1.11 107.1 3578 3434 2626 2472 217.7 12.8 310 5967 0.00 2.03 0.00 0.000 1030 0.000 0.025 3587 2020 2549 2626 2472 0 0 0 0 0 0 28.83 26.46 28.83

6287 1.11 107.1 3587 2020 2626 2472 176.6 11.6 326 6298 0.00 2.10 0.00 0.000 516 0.000 0.034 3597 640 2548 2626 2471 0 0 0 0 0 0 28.83 26.32 28.83

6343 1.11 107.1 3597 640 2625 2471 170.7 11.5 328 6354 0.15 2.15 0.00 0.000 5126 0.151 0.030 3558 2027 2548 2626 2471 0 0 0 0 0 0 25.98 26.39 28.83

6670 1.11 107.1 3557 2026 2625 2471 136.0 10.5 344 6681 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2026 2548 2625 2471 0 0 0 0 0 0 28.83 28.83 28.83

6970 1.11 107.1 3558 2026 2624 2471 105.8 9.4 359 6981 0.00 2.17 0.00 0.000 516 0.000 0.034 3565 638 2547 2624 2471 0 0 0 0 0 0 28.83 26.30 28.83

7198 1.11 107.1 3565 638 2624 2471 87.2 9.2 369 7210 0.00 2.15 0.00 0.000 1030 0.000 0.030 3565 2038 2547 2624 2471 0 0 0 0 0 0 28.83 26.38 28.83

7504 1.14 114.9 3565 2037 2624 2470 61.7 7.7 385 7515 0.00 2.05 0.00 0.000 260 0.000 0.040 3565 3427 2546 2624 2469 0 0 0 0 0 0 28.83 26.24 28.83

7751 1.31 173.7 3565 3427 2623 2469 44.2 5.1 401 7851 0.15 2.03 81.10 0.583 11270 0.082 0.026 3635 2019 2295 2376 2214 0 0 0 0 0 0 26.32 26.48 24.48

8158 1.34 182.4 3634 2021 2368 2207 6.8 7.6 458 8171 0.00 2.20 2.67 0.063 8452 0.000 0.040 3635 3425 2264 2347 2181 0 0 1 0 0 0 28.83 25.96 25.87

8191 end climb: SURFACE_DEPTH_REACHED

state 8191 begin surface coast

8200 end surface coast: CONTROL_FINISHED_OK

state 8201 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	679	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	60	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	48	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_TGT	990	SM_CC	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	-195061.59	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	260114,003125,4750.164,-12515.006,17,0.8,19,17.2	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	2.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260114,003949,4750.160,-12514.964,19,0.8,20,17.2	MHEAD_RNG_PITCHd_Wd	209.9,161957,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	441

FINISH	3.3,1.024149	_24V_AH	24.0,69.058
SM_CCo	8229,76.50,0.058,0,0,1582,350.04	_10V_AH	9.3,66.948
SM_GC	2.61,8.85,1.67,76.50,0.047,0.025,0.058,332,2322,1582,-8.88,2.21,350.04,0,0,0,0,0,0,25.97,26.26,25.87	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12512.13,250114,222249	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713,0.027713	MEM	258748
HUMID	56.41	DATA_FILE_SIZE	16763,464
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	116330,0
TCM_TEMP	18.00	CFSIZE	260034560,186245120
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
SC_FREEKB	3720960	CURRENT	0.058,348.2,1
PM_FREEKB	1563504	GPS	260114,030004,4749.852,-12515.916,24,0.8,25,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	235	123.28	nil	0	0	0.00
Roll_motor	67	58	93.87	nil	0	0	0.00
VBD_pump_during_apogee	352	727	6151.28	nil	0	0	0.00
VBD_pump_during_surface	76	58	106.75	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	8213	4	954.81
Iridium_during_xfer	252	120	731.02	PMAR	189	10	45.51
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.08
TT8	1473	11	160.97
LPSleep	4773	2	97.21
TT8_Active	486	11	53.13
TT8_Sampling	1602	38	576.80
TT8_CF8	478	49	218.87
TT8_Kalman	0	0	0.00
Analog_circuits	1581	15	234.83
GPS_charging	0	0	0.00
Compass	1119	7	78.01
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
25	-1.11	-107.1	340	2282	1616	1511	0.0	0.0	0	76	0.00	0.00	-44.53	0.000	16386	0.000	0.000	340	2282	2755	2773	2738	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.11	-107.1	340	2282	2774	2742	3.3	-1.4	8	119	10.27	2.08	-15.60	0.000	18692	0.236	0.058	2828	3597	3450	3470	3430	0	0	0	0	0	0	25.02	25.96	26.50
210	-1.11	-107.1	1824	3596	3463	3434	28.5	-20.4	28	223	0.00	1.88	0.00	0.000	1030	0.000	0.026	2830	2276	3456	3475	3437	0	0	0	0	0	0	28.83	26.22	28.83
524	-1.11	-107.1	2829	2273	3478	3437	73.7	-12.7	50	535	0.00	2.00	0.00	0.000	260	0.000	0.044	2822	3598	3457	3478	3437	0	0	0	0	0	0	28.83	26.12	28.83
766	-1.11	-107.1	2822	3598	3478	3437	105.2	-13.3	61	777	0.00	1.83	0.00	0.000	1030	0.000	0.025	2822	2293	3458	3479	3437	0	0	0	0	0	0	28.83	26.41	28.83
1088	-1.11	-107.1	2822	2293	3480	3437	146.1	-12.5	77	1099	0.00	2.08	0.00	0.000	516	0.000	0.031	2822	911	3458	3480	3437	0	0	0	0	0	0	28.83	26.32	28.83
1194	-1.11	-107.1	2822	911	3480	3438	157.1	-12.1	81	1207	0.00	2.15	0.00	0.000	1030	0.000	0.031	2814	2319	3458	3480	3437	0	0	0	0	0	0	28.83	26.33	28.83
1501	-1.11	-107.1	2814	2318	3480	3437	195.6	-11.7	97	1511	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2318	3458	3480	3437	0	0	0	0	0	0	28.83	28.83	28.83
1801	-1.11	-107.1	2814	2318	3479	3437	229.8	-11.5	112	1813	0.00	2.12	0.00	0.000	516	0.000	0.030	2814	916	3458	3480	3437	0	0	0	0	0	0	28.83	26.34	28.83
1853	-1.11	-107.1	2814	916	3480	3437	235.9	-11.6	114	1864	0.15	2.12	0.00	0.000	3078	0.171	0.031	2845	2313	3458	3480	3437	0	0	0	0	0	0	25.89	26.36	28.83
2184	-1.11	-107.1	2843	2312	3480	3437	271.6	-10.7	130	2195	0.00	2.12	0.00	0.000	516	0.000	0.030	2845	913	3458	3480	3437	0	0	0	0	0	0	28.83	26.36	28.83
2236	-1.11	-107.1	2845	913	3480	3437	277.2	-10.9	132	2247	0.00	2.15	0.00	0.000	1030	0.000	0.031	2838	2306	3458	3479	3437	0	0	0	0	0	0	28.83	26.36	28.83
2567	-1.11	-107.1	2838	2305	3480	3437	311.1	-9.8	148	2578	0.00	2.12	0.00	0.000	516	0.000	0.030	2838	910	3458	3480	3437	0	0	0	0	0	0	28.83	26.36	28.83
2608	-1.11	-107.1	2838	910	3480	3437	314.2	-9.7	149	2619	0.00	2.15	0.00	0.000	1030	0.000	0.031	2829	2313	3458	3480	3437	0	0	0	0	0	0	28.83	26.36	28.83
2928	-1.11	-107.1	2828	2314	3480	3437	346.4	-10.1	165	2940	0.00	2.15	0.00	0.000	516	0.000	0.030	2829	910	3458	3480	3437	0	0	0	0	0	0	28.83	26.36	28.83
3005	-1.11	-107.1	2828	910	3480	3436	353.8	-10.4	168	3016	0.00	2.12	0.00	0.000	1030	0.000	0.031	2820	2304	3459	3482	3437	0	0	0	0	0	0	28.83	26.36	28.83
3332	-1.11	-107.1	2819	2304	3479	3436	390.2	-11.3	184	3343	0.00	2.10	0.00	0.000	516	0.000	0.030	2819	917	3457	3479	3436	0	0	0	0	0	0	28.83	26.35	28.83
3474	-1.11	-107.1	2819	917	3479	3437	405.5	-11.4	190	3486	0.12	2.12	0.00	0.000	3078	0.176	0.032	2841	2309	3458	3480	3436	0	0	0	0	0	0	25.94	26.34	28.83
3796	-1.11	-107.1	2841	2308	3479	3436	437.9	-8.8	206	3806	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	2308	3457	3479	3436	0	0	0	0	0	0	28.83	28.83	28.83
3832	end dive: TARGET_DEPTH_EXCEEDED
state	3832	begin apogee
3841	-0.25	0.0	2842	2020	3479	3436	441.3	-8.5	208	3991	0.85	0.00	135.18	0.728	10246	0.132	0.000	3113	2019	3008	3080	2936	0	0	0	0	0	0	25.44	28.83	24.06
3993	end apogee: CONTROL_FINISHED_OK
state	3993	begin climb
3997	1.11	107.1	3112	2020	3075	2933	444.8	0.0	215	4145	1.25	0.00	133.35	0.662	10758	0.077	0.000	3553	2019	2571	2654	2489	0	0	0	0	0	0	25.29	28.83	24.01
4439	1.11	107.1	3553	2019	2633	2477	400.5	11.9	238	4450	0.00	2.15	0.00	0.000	516	0.000	0.035	3563	638	2555	2633	2477	0	0	0	0	0	0	28.83	26.04	28.83
4500	1.11	107.1	3562	638	2631	2477	394.2	11.5	240	4511	0.00	2.17	0.00	0.000	1030	0.000	0.028	3563	2029	2553	2631	2476	0	0	0	0	0	0	28.83	26.15	28.83
4821	1.11	107.1	3562	2026	2630	2475	355.4	11.6	256	4831	0.00	0.00	0.00	0.000	6	0.000	0.000	3563	2026	2552	2629	2475	0	0	0	0	0	0	28.83	28.83	28.83
5121	1.11	107.1	3562	2026	2629	2474	320.0	11.9	271	5132	0.00	2.17	0.00	0.000	516	0.000	0.034	3571	638	2551	2629	2474	0	0	0	0	0	0	28.83	26.27	28.83
5195	1.11	107.1	2784	638	2575	2465	311.4	11.9	274	5206	0.00	2.15	0.00	0.000	1030	0.000	0.029	3571	2037	2551	2629	2474	0	0	0	0	0	0	28.83	26.32	28.83
5522	1.11	107.1	3571	2036	2628	2473	271.6	12.3	290	5533	0.00	2.17	0.00	0.000	516	0.000	0.033	3578	646	2550	2628	2473	0	0	0	0	0	0	28.83	26.30	28.83
5577	1.11	107.1	3578	646	2628	2473	265.2	12.3	292	5588	0.00	2.15	0.00	0.000	1030	0.000	0.030	3578	2038	2550	2628	2473	0	0	0	0	0	0	28.83	26.35	28.83
5903	1.11	107.1	3578	2038	2626	2472	224.5	12.1	308	5914	0.00	2.08	0.00	0.000	260	0.000	0.041	3578	3434	2549	2626	2472	0	0	0	0	0	0	28.83	26.25	28.83
5956	1.11	107.1	3578	3434	2626	2472	217.7	12.8	310	5967	0.00	2.03	0.00	0.000	1030	0.000	0.025	3587	2020	2549	2626	2472	0	0	0	0	0	0	28.83	26.46	28.83
6287	1.11	107.1	3587	2020	2626	2472	176.6	11.6	326	6298	0.00	2.10	0.00	0.000	516	0.000	0.034	3597	640	2548	2626	2471	0	0	0	0	0	0	28.83	26.32	28.83
6343	1.11	107.1	3597	640	2625	2471	170.7	11.5	328	6354	0.15	2.15	0.00	0.000	5126	0.151	0.030	3558	2027	2548	2626	2471	0	0	0	0	0	0	25.98	26.39	28.83
6670	1.11	107.1	3557	2026	2625	2471	136.0	10.5	344	6681	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2026	2548	2625	2471	0	0	0	0	0	0	28.83	28.83	28.83
6970	1.11	107.1	3558	2026	2624	2471	105.8	9.4	359	6981	0.00	2.17	0.00	0.000	516	0.000	0.034	3565	638	2547	2624	2471	0	0	0	0	0	0	28.83	26.30	28.83
7198	1.11	107.1	3565	638	2624	2471	87.2	9.2	369	7210	0.00	2.15	0.00	0.000	1030	0.000	0.030	3565	2038	2547	2624	2471	0	0	0	0	0	0	28.83	26.38	28.83
7504	1.14	114.9	3565	2037	2624	2470	61.7	7.7	385	7515	0.00	2.05	0.00	0.000	260	0.000	0.040	3565	3427	2546	2624	2469	0	0	0	0	0	0	28.83	26.24	28.83
7751	1.31	173.7	3565	3427	2623	2469	44.2	5.1	401	7851	0.15	2.03	81.10	0.583	11270	0.082	0.026	3635	2019	2295	2376	2214	0	0	0	0	0	0	26.32	26.48	24.48
8158	1.34	182.4	3634	2021	2368	2207	6.8	7.6	458	8171	0.00	2.20	2.67	0.063	8452	0.000	0.040	3635	3425	2264	2347	2181	0	0	1	0	0	0	28.83	25.96	25.87
8191	end climb: SURFACE_DEPTH_REACHED
state	8191	begin surface coast
8200	end surface coast: CONTROL_FINISHED_OK
state	8201	begin surface