Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 828 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2330 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 828 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2858 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 450 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 510 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -10 N_GPS 20 W_ADJ_DBAND 2 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1595499.5 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367303

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3110064e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3325 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 120 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 27.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0027000001 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_B 0.0098999999 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 27.5 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0027000001 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0098999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 2.1999999e-06 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 450

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1595499.5

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3325 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2330 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -10

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2858 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 120 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 29 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DIVE 828 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 2

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367303

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3110064e-05

Pre-dive calculations and measurements:

GPS1 210115,183927,4753.316,-12514.695,8,2.9,28,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.54 MHEAD_RNG_PITCHd_Wd 182.3,165659,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -73.4 D_GRID 275

GPS2 210115,184757,4753.361,-12514.737,16,3.9,36,18.8

Post-dive calculations and measurements:

FINISH 2.0,1.024618 _10V_AH 12.4,0.000

SM_CCo 7454,49.92,0.090,0,0,1431,350.04 FG_AHR_24Vo 0.000

SM_GC 2.29,9.12,2.40,49.92,0.049,0.060,0.090,387,2406,1431,-9.10,1.02,350.04,0,0,0,0,0,0,14.16,14.08,14.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12520.31,210115,161651 MEM 290852

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23400,679

HUMID 51.37 CAP_FILE_SIZE 121950,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260034560,171020288

TCM_TEMP 19.60 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 1,3512.48,0x234486,1,24

SC_FREEKB 3673024 CURRENT 0.160, 11.9,1

PM_FREEKB 36617760 GPS 210115,205536,4753.300,-12515.018,70,1.1,70,18.8

_24V_AH 13.4,208.806

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 347 104.95 nil 0 0 0.00

Roll_motor 76 149 151.92 nil 0 0 0.00

VBD_pump_during_apogee 281 1011 3810.09 nil 0 0 0.00

VBD_pump_during_surface 49 90 60.39 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 7453 7 778.39

Iridium_during_xfer 202 161 436.97 PMAR 3353 4 185.25

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 22 10.37

TT8 1627 10 206.25

LPSleep 3827 2 103.94

TT8_Active 496 10 62.93

TT8_Sampling 1434 28 514.86

TT8_CF8 618 35 273.66

TT8_Kalman 0 0 0.00

Analog_circuits 1398 10 173.36

GPS_charging 0 0 0.00

Compass 1060 0 9.86

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

31 -0.59 -116.8 389 2399 1539 1318 0.0 0.0 0 83 0.00 0.00 -47.80 0.000 16386 0.000 0.000 389 2404 2650 2738 2562 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.59 -116.8 389 2400 2732 2567 3.2 -1.8 5 127 12.07 2.60 -15.98 0.000 18948 0.347 0.093 3131 988 3336 3381 3292 0 0 0 0 0 0 13.77 14.01 14.40

218 -0.59 -116.8 3131 988 3389 3294 20.1 -12.0 18 227 0.00 2.53 0.00 0.000 1030 0.000 0.068 3131 2395 3337 3382 3293 0 0 0 0 0 0 28.83 13.96 28.83

469 -0.59 -116.8 3131 2394 3382 3294 49.3 -11.4 43 478 0.00 2.58 0.00 0.000 260 0.000 0.082 3131 3813 3336 3378 3294 0 0 0 0 0 0 28.83 13.88 28.83

571 -0.59 -116.8 3131 3813 3382 3293 60.6 -11.3 53 580 0.00 2.53 0.00 0.000 1030 0.000 0.057 3131 2389 3339 3385 3294 0 0 0 0 0 0 28.83 13.97 28.83

821 -0.59 -116.8 3131 2384 3382 3294 87.1 -9.9 78 829 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2384 3338 3383 3294 0 0 0 0 0 0 28.83 28.83 28.83

1071 -0.59 -116.8 3131 2384 3382 3294 109.8 -8.3 103 1080 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2384 3338 3382 3294 0 0 0 0 0 0 28.83 28.83 28.83

1322 -0.59 -116.8 3131 2387 3383 3294 131.1 -8.1 128 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2384 3338 3383 3294 0 0 0 0 0 0 28.83 28.83 28.83

1573 -0.59 -116.8 3131 2384 3383 3294 151.1 -7.7 153 1581 0.00 2.65 0.00 0.000 260 0.000 0.083 3131 3826 3338 3382 3294 0 0 0 0 0 0 28.83 13.86 28.83

1632 -0.59 -116.8 3130 3820 3383 3294 155.9 -8.0 159 1642 0.00 2.50 0.00 0.000 1030 0.000 0.056 3131 2403 3338 3383 3294 0 0 0 0 0 0 28.83 13.90 28.83

1884 -0.59 -116.8 3130 2402 3382 3294 176.1 -8.5 184 1892 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2401 3339 3383 3295 0 0 0 0 0 0 28.83 28.83 28.83

2135 -0.59 -116.8 3131 2399 3383 3290 196.0 -7.7 209 2142 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2401 3339 3383 3295 0 0 0 0 0 0 28.83 28.83 28.83

2384 -0.59 -116.8 3136 2402 3383 3294 215.3 -7.6 234 2392 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2401 3338 3382 3294 0 0 0 0 0 0 28.83 28.83 28.83

2634 -0.59 -116.8 3131 2401 3383 3294 233.6 -7.3 259 2643 0.00 2.60 0.00 0.000 260 0.000 0.083 3131 3812 3339 3382 3296 0 0 0 0 0 0 28.83 13.84 28.83

2686 -0.59 -116.8 3131 3812 3382 3294 237.5 -7.8 264 2694 0.00 2.50 0.00 0.000 1030 0.000 0.057 3131 2395 3338 3383 3294 0 0 0 0 0 0 28.83 13.93 28.83

2946 -0.59 -116.8 3131 2393 3383 3296 256.6 -6.9 284 2949 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2393 3337 3382 3292 0 0 0 0 0 0 28.83 28.83 28.83

3210 end dive: TARGET_DEPTH_EXCEEDED

state 3211 begin apogee

3223 -0.25 0.0 3127 2329 3383 3294 276.5 -7.4 293 3322 0.38 0.00 93.47 1.011 10246 0.173 0.000 3234 2329 2858 2929 2788 0 0 0 0 0 0 13.59 28.83 13.49

3325 end apogee: CONTROL_FINISHED_OK

state 3325 begin climb

3330 0.59 116.8 3237 2329 2927 2784 280.6 0.0 296 3441 0.85 2.60 93.50 0.992 10756 0.119 0.073 3519 917 2382 2507 2257 0 0 0 0 0 0 13.91 14.01 13.38

3482 0.64 183.2 3518 916 2509 2257 277.5 4.5 313 3551 0.00 2.53 53.80 0.985 9222 0.000 0.066 3519 2336 2107 2251 1964 0 0 0 0 0 0 28.83 13.95 13.38

3873 0.65 183.2 3519 2336 2252 1964 253.5 6.7 332 3883 0.00 2.53 0.00 0.000 260 0.000 0.083 3519 3736 2108 2252 1964 0 0 0 0 0 0 28.83 13.98 28.83

3964 0.65 183.2 3516 3733 2251 1964 246.3 7.9 341 3975 0.00 2.47 0.00 0.000 1030 0.000 0.060 3522 2334 2106 2248 1964 0 0 0 0 0 0 28.83 14.05 28.83

4217 0.65 183.2 3519 2334 2251 1964 228.9 7.0 366 4228 0.00 2.53 0.00 0.000 516 0.000 0.074 3517 917 2108 2252 1964 0 0 0 0 0 0 28.83 13.98 28.83

4271 0.67 183.2 3519 917 2251 1964 225.5 6.5 371 4282 0.00 2.53 0.00 0.000 1030 0.000 0.067 3519 2343 2107 2251 1964 0 0 0 0 0 0 28.83 14.04 28.83

4526 0.70 183.2 3520 2343 2251 1964 209.7 5.6 396 4536 0.00 2.53 0.00 0.000 260 0.000 0.083 3519 3735 2108 2252 1964 0 0 0 0 0 0 28.83 13.96 28.83

4578 0.71 183.2 3520 3734 2248 1964 206.2 6.7 401 4589 0.00 2.50 0.00 0.000 1030 0.000 0.060 3520 2319 2107 2251 1963 0 0 0 0 0 0 28.83 14.04 28.83

4831 0.74 183.2 3519 2319 2251 1964 191.1 5.9 426 4842 0.12 2.50 0.00 0.000 2564 0.135 0.073 3587 925 2108 2252 1965 0 0 0 0 0 0 14.11 13.95 28.83

4919 0.74 183.2 3588 924 2252 1965 184.4 8.8 434 4930 0.00 2.50 0.00 0.000 1030 0.000 0.066 3587 2329 2106 2249 1964 0 0 0 0 0 0 28.83 14.00 28.83

5172 0.74 183.2 3587 2329 2251 1965 162.3 8.4 459 5184 0.00 2.55 0.00 0.000 260 0.000 0.082 3587 3736 2109 2251 1968 0 0 0 0 0 0 28.83 13.89 28.83

5236 0.74 183.2 3587 3736 2251 1964 156.6 9.4 465 5247 0.00 2.47 0.00 0.000 1030 0.000 0.060 3587 2327 2108 2252 1964 0 0 0 0 0 0 28.83 14.02 28.83

5489 0.74 183.2 3584 2327 2251 1964 133.6 9.1 490 5499 0.00 0.00 0.00 0.000 6 0.000 0.000 3588 2327 2109 2251 1968 0 0 0 0 0 0 28.83 28.83 28.83

5742 0.74 183.2 3587 2326 2251 1964 111.1 9.2 515 5754 0.00 2.53 0.00 0.000 516 0.000 0.076 3590 930 2107 2251 1964 0 0 0 0 0 0 28.83 13.86 28.83

5849 0.74 183.2 3589 930 2252 1965 101.8 9.1 525 5860 0.00 2.50 0.00 0.000 1030 0.000 0.067 3594 2332 2107 2251 1964 0 0 0 0 0 0 28.83 13.98 28.83

6101 0.78 235.9 3590 2330 2250 1965 86.4 5.1 550 6151 0.00 2.58 40.38 0.804 8452 0.000 0.083 3591 3746 1894 2031 1757 0 0 0 0 0 0 28.83 14.18 13.66

6198 0.78 235.9 3590 3746 2029 1757 80.6 7.0 559 6211 0.00 2.47 0.00 0.000 1030 0.000 0.060 3590 2340 1892 2029 1756 0 0 0 0 0 0 28.83 14.09 28.83

6454 0.80 235.9 3590 2340 2029 1758 61.4 6.4 584 6464 0.00 0.00 0.00 0.000 6 0.000 0.000 3592 2339 1895 2033 1758 0 0 0 0 0 0 28.83 28.83 28.83

6705 0.83 235.9 3590 2340 2030 1759 46.4 5.5 609 6716 0.00 2.55 0.00 0.000 516 0.000 0.074 3592 917 1894 2029 1759 0 0 0 0 0 0 28.83 13.96 28.83

6769 0.87 235.9 3592 917 2029 1759 42.9 5.6 615 6781 0.00 2.53 0.00 0.000 1030 0.000 0.066 3592 2331 1896 2033 1759 0 0 0 0 0 0 28.83 14.02 28.83

7025 0.90 235.9 3592 2328 2026 1760 28.3 5.7 640 7035 0.00 2.55 0.00 0.000 260 0.000 0.081 3592 3737 1894 2029 1760 0 0 0 0 0 0 28.83 13.93 28.83

7107 0.90 235.9 3592 3737 2029 1760 22.4 7.3 648 7118 0.00 2.50 0.00 0.000 1030 0.000 0.057 3592 2319 1898 2036 1760 0 0 0 0 0 0 28.83 13.95 28.83

7359 0.93 235.9 3592 2318 2029 1760 6.5 5.8 673 7370 0.00 2.60 0.00 0.000 260 0.000 0.080 3592 3735 1895 2029 1761 0 0 0 0 0 0 28.83 13.93 28.83

7396 end climb: SURFACE_DEPTH_REACHED

state 7397 begin surface coast

7417 end surface coast: CONTROL_FINISHED_OK

state 7417 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2330	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	828	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2858	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	450	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	510	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-10	N_GPS	20	W_ADJ_DBAND	2	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1595499.5	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367303
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3110064e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3325	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	120	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	27.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0027000001	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_B	0.0098999999	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	210115,183927,4753.316,-12514.695,8,2.9,28,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.54	MHEAD_RNG_PITCHd_Wd	182.3,165659,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-73.4	D_GRID	275
GPS2	210115,184757,4753.361,-12514.737,16,3.9,36,18.8

FINISH	2.0,1.024618	_10V_AH	12.4,0.000
SM_CCo	7454,49.92,0.090,0,0,1431,350.04	FG_AHR_24Vo	0.000
SM_GC	2.29,9.12,2.40,49.92,0.049,0.060,0.090,387,2406,1431,-9.10,1.02,350.04,0,0,0,0,0,0,14.16,14.08,14.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12520.31,210115,161651	MEM	290852
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23400,679
HUMID	51.37	CAP_FILE_SIZE	121950,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260034560,171020288
TCM_TEMP	19.60	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	1,3512.48,0x234486,1,24
SC_FREEKB	3673024	CURRENT	0.160, 11.9,1
PM_FREEKB	36617760	GPS	210115,205536,4753.300,-12515.018,70,1.1,70,18.8
_24V_AH	13.4,208.806

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	347	104.95	nil	0	0	0.00
Roll_motor	76	149	151.92	nil	0	0	0.00
VBD_pump_during_apogee	281	1011	3810.09	nil	0	0	0.00
VBD_pump_during_surface	49	90	60.39	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	7453	7	778.39
Iridium_during_xfer	202	161	436.97	PMAR	3353	4	185.25
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	22	10.37
TT8	1627	10	206.25
LPSleep	3827	2	103.94
TT8_Active	496	10	62.93
TT8_Sampling	1434	28	514.86
TT8_CF8	618	35	273.66
TT8_Kalman	0	0	0.00
Analog_circuits	1398	10	173.36
GPS_charging	0	0	0.00
Compass	1060	0	9.86
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
31	-0.59	-116.8	389	2399	1539	1318	0.0	0.0	0	83	0.00	0.00	-47.80	0.000	16386	0.000	0.000	389	2404	2650	2738	2562	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.59	-116.8	389	2400	2732	2567	3.2	-1.8	5	127	12.07	2.60	-15.98	0.000	18948	0.347	0.093	3131	988	3336	3381	3292	0	0	0	0	0	0	13.77	14.01	14.40
218	-0.59	-116.8	3131	988	3389	3294	20.1	-12.0	18	227	0.00	2.53	0.00	0.000	1030	0.000	0.068	3131	2395	3337	3382	3293	0	0	0	0	0	0	28.83	13.96	28.83
469	-0.59	-116.8	3131	2394	3382	3294	49.3	-11.4	43	478	0.00	2.58	0.00	0.000	260	0.000	0.082	3131	3813	3336	3378	3294	0	0	0	0	0	0	28.83	13.88	28.83
571	-0.59	-116.8	3131	3813	3382	3293	60.6	-11.3	53	580	0.00	2.53	0.00	0.000	1030	0.000	0.057	3131	2389	3339	3385	3294	0	0	0	0	0	0	28.83	13.97	28.83
821	-0.59	-116.8	3131	2384	3382	3294	87.1	-9.9	78	829	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2384	3338	3383	3294	0	0	0	0	0	0	28.83	28.83	28.83
1071	-0.59	-116.8	3131	2384	3382	3294	109.8	-8.3	103	1080	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2384	3338	3382	3294	0	0	0	0	0	0	28.83	28.83	28.83
1322	-0.59	-116.8	3131	2387	3383	3294	131.1	-8.1	128	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2384	3338	3383	3294	0	0	0	0	0	0	28.83	28.83	28.83
1573	-0.59	-116.8	3131	2384	3383	3294	151.1	-7.7	153	1581	0.00	2.65	0.00	0.000	260	0.000	0.083	3131	3826	3338	3382	3294	0	0	0	0	0	0	28.83	13.86	28.83
1632	-0.59	-116.8	3130	3820	3383	3294	155.9	-8.0	159	1642	0.00	2.50	0.00	0.000	1030	0.000	0.056	3131	2403	3338	3383	3294	0	0	0	0	0	0	28.83	13.90	28.83
1884	-0.59	-116.8	3130	2402	3382	3294	176.1	-8.5	184	1892	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2401	3339	3383	3295	0	0	0	0	0	0	28.83	28.83	28.83
2135	-0.59	-116.8	3131	2399	3383	3290	196.0	-7.7	209	2142	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2401	3339	3383	3295	0	0	0	0	0	0	28.83	28.83	28.83
2384	-0.59	-116.8	3136	2402	3383	3294	215.3	-7.6	234	2392	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2401	3338	3382	3294	0	0	0	0	0	0	28.83	28.83	28.83
2634	-0.59	-116.8	3131	2401	3383	3294	233.6	-7.3	259	2643	0.00	2.60	0.00	0.000	260	0.000	0.083	3131	3812	3339	3382	3296	0	0	0	0	0	0	28.83	13.84	28.83
2686	-0.59	-116.8	3131	3812	3382	3294	237.5	-7.8	264	2694	0.00	2.50	0.00	0.000	1030	0.000	0.057	3131	2395	3338	3383	3294	0	0	0	0	0	0	28.83	13.93	28.83
2946	-0.59	-116.8	3131	2393	3383	3296	256.6	-6.9	284	2949	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2393	3337	3382	3292	0	0	0	0	0	0	28.83	28.83	28.83
3210	end dive: TARGET_DEPTH_EXCEEDED
state	3211	begin apogee
3223	-0.25	0.0	3127	2329	3383	3294	276.5	-7.4	293	3322	0.38	0.00	93.47	1.011	10246	0.173	0.000	3234	2329	2858	2929	2788	0	0	0	0	0	0	13.59	28.83	13.49
3325	end apogee: CONTROL_FINISHED_OK
state	3325	begin climb
3330	0.59	116.8	3237	2329	2927	2784	280.6	0.0	296	3441	0.85	2.60	93.50	0.992	10756	0.119	0.073	3519	917	2382	2507	2257	0	0	0	0	0	0	13.91	14.01	13.38
3482	0.64	183.2	3518	916	2509	2257	277.5	4.5	313	3551	0.00	2.53	53.80	0.985	9222	0.000	0.066	3519	2336	2107	2251	1964	0	0	0	0	0	0	28.83	13.95	13.38
3873	0.65	183.2	3519	2336	2252	1964	253.5	6.7	332	3883	0.00	2.53	0.00	0.000	260	0.000	0.083	3519	3736	2108	2252	1964	0	0	0	0	0	0	28.83	13.98	28.83
3964	0.65	183.2	3516	3733	2251	1964	246.3	7.9	341	3975	0.00	2.47	0.00	0.000	1030	0.000	0.060	3522	2334	2106	2248	1964	0	0	0	0	0	0	28.83	14.05	28.83
4217	0.65	183.2	3519	2334	2251	1964	228.9	7.0	366	4228	0.00	2.53	0.00	0.000	516	0.000	0.074	3517	917	2108	2252	1964	0	0	0	0	0	0	28.83	13.98	28.83
4271	0.67	183.2	3519	917	2251	1964	225.5	6.5	371	4282	0.00	2.53	0.00	0.000	1030	0.000	0.067	3519	2343	2107	2251	1964	0	0	0	0	0	0	28.83	14.04	28.83
4526	0.70	183.2	3520	2343	2251	1964	209.7	5.6	396	4536	0.00	2.53	0.00	0.000	260	0.000	0.083	3519	3735	2108	2252	1964	0	0	0	0	0	0	28.83	13.96	28.83
4578	0.71	183.2	3520	3734	2248	1964	206.2	6.7	401	4589	0.00	2.50	0.00	0.000	1030	0.000	0.060	3520	2319	2107	2251	1963	0	0	0	0	0	0	28.83	14.04	28.83
4831	0.74	183.2	3519	2319	2251	1964	191.1	5.9	426	4842	0.12	2.50	0.00	0.000	2564	0.135	0.073	3587	925	2108	2252	1965	0	0	0	0	0	0	14.11	13.95	28.83
4919	0.74	183.2	3588	924	2252	1965	184.4	8.8	434	4930	0.00	2.50	0.00	0.000	1030	0.000	0.066	3587	2329	2106	2249	1964	0	0	0	0	0	0	28.83	14.00	28.83
5172	0.74	183.2	3587	2329	2251	1965	162.3	8.4	459	5184	0.00	2.55	0.00	0.000	260	0.000	0.082	3587	3736	2109	2251	1968	0	0	0	0	0	0	28.83	13.89	28.83
5236	0.74	183.2	3587	3736	2251	1964	156.6	9.4	465	5247	0.00	2.47	0.00	0.000	1030	0.000	0.060	3587	2327	2108	2252	1964	0	0	0	0	0	0	28.83	14.02	28.83
5489	0.74	183.2	3584	2327	2251	1964	133.6	9.1	490	5499	0.00	0.00	0.00	0.000	6	0.000	0.000	3588	2327	2109	2251	1968	0	0	0	0	0	0	28.83	28.83	28.83
5742	0.74	183.2	3587	2326	2251	1964	111.1	9.2	515	5754	0.00	2.53	0.00	0.000	516	0.000	0.076	3590	930	2107	2251	1964	0	0	0	0	0	0	28.83	13.86	28.83
5849	0.74	183.2	3589	930	2252	1965	101.8	9.1	525	5860	0.00	2.50	0.00	0.000	1030	0.000	0.067	3594	2332	2107	2251	1964	0	0	0	0	0	0	28.83	13.98	28.83
6101	0.78	235.9	3590	2330	2250	1965	86.4	5.1	550	6151	0.00	2.58	40.38	0.804	8452	0.000	0.083	3591	3746	1894	2031	1757	0	0	0	0	0	0	28.83	14.18	13.66
6198	0.78	235.9	3590	3746	2029	1757	80.6	7.0	559	6211	0.00	2.47	0.00	0.000	1030	0.000	0.060	3590	2340	1892	2029	1756	0	0	0	0	0	0	28.83	14.09	28.83
6454	0.80	235.9	3590	2340	2029	1758	61.4	6.4	584	6464	0.00	0.00	0.00	0.000	6	0.000	0.000	3592	2339	1895	2033	1758	0	0	0	0	0	0	28.83	28.83	28.83
6705	0.83	235.9	3590	2340	2030	1759	46.4	5.5	609	6716	0.00	2.55	0.00	0.000	516	0.000	0.074	3592	917	1894	2029	1759	0	0	0	0	0	0	28.83	13.96	28.83
6769	0.87	235.9	3592	917	2029	1759	42.9	5.6	615	6781	0.00	2.53	0.00	0.000	1030	0.000	0.066	3592	2331	1896	2033	1759	0	0	0	0	0	0	28.83	14.02	28.83
7025	0.90	235.9	3592	2328	2026	1760	28.3	5.7	640	7035	0.00	2.55	0.00	0.000	260	0.000	0.081	3592	3737	1894	2029	1760	0	0	0	0	0	0	28.83	13.93	28.83
7107	0.90	235.9	3592	3737	2029	1760	22.4	7.3	648	7118	0.00	2.50	0.00	0.000	1030	0.000	0.057	3592	2319	1898	2036	1760	0	0	0	0	0	0	28.83	13.95	28.83
7359	0.93	235.9	3592	2318	2029	1760	6.5	5.8	673	7370	0.00	2.60	0.00	0.000	260	0.000	0.080	3592	3735	1895	2029	1761	0	0	0	0	0	0	28.83	13.93	28.83
7396	end climb: SURFACE_DEPTH_REACHED
state	7397	begin surface coast
7417	end surface coast: CONTROL_FINISHED_OK
state	7417	begin surface