Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 829 * 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 829 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 26 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 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 -1595500.8 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 -1595500.8

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 26 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DIVE 829 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 210115,205536,4753.300,-12515.018,70,1.1,70,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 2 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.57 MHEAD_RNG_PITCHd_Wd 185.0,165374,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -71.8 D_GRID 293

GPS2 210115,210637,4753.349,-12515.005,18,1.9,18,18.8

Post-dive calculations and measurements:

FINISH 1.5,1.024623 _10V_AH 12.4,0.000

SM_CCo 7772,40.17,0.088,0,0,1430,350.04 FG_AHR_24Vo 0.000

SM_GC 2.79,9.30,0.15,40.17,0.054,0.125,0.088,388,2399,1430,-9.10,-0.82,350.04,0,0,0,0,0,0,14.01,14.09,14.05 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12508.73,210115,181805 MEM 290836

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23358,697

HUMID 51.73 CAP_FILE_SIZE 127106,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260034560,170942464

TCM_TEMP 19.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 INTR 0,8318.98,0x2378ba,7,5

SC_FREEKB 3672704 CURRENT 0.098, 21.1,1

PM_FREEKB 36617728 GPS 210115,231831,4752.979,-12515.275,15,1.5,16,18.8

_24V_AH 13.4,208.955

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 368 115.62 nil 0 0 0.00

Roll_motor 76 125 128.40 nil 0 0 0.00

VBD_pump_during_apogee 298 1034 4140.83 nil 0 0 0.00

VBD_pump_during_surface 40 87 47.36 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 7773 7 794.41

Iridium_during_xfer 262 166 586.17 PMAR 108 4 7.13

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.49

TT8 1648 10 208.85

LPSleep 4108 2 111.57

TT8_Active 512 10 64.98

TT8_Sampling 1532 28 550.14

TT8_CF8 661 35 292.68

TT8_Kalman 0 0 0.00

Analog_circuits 1520 10 188.59

GPS_charging 0 0 0.00

Compass 1108 0 10.31

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

29 -0.59 -116.8 388 2398 1533 1329 0.0 0.0 0 71 0.00 0.00 -36.53 0.000 16386 0.000 0.000 388 2400 2360 2463 2258 0 0 0 0 0 0 28.83 28.83 28.83

78 -0.59 -116.8 388 2400 2453 2257 3.0 -1.5 4 132 12.50 2.55 -30.73 0.000 18948 0.369 0.086 3133 983 3333 3380 3287 0 0 0 0 0 0 13.76 14.02 14.37

205 -0.59 -116.8 3128 983 3381 3290 13.7 -11.2 17 216 0.00 2.55 0.00 0.000 1030 0.000 0.068 3128 2395 3335 3381 3289 0 0 0 0 0 0 28.83 13.95 28.83

458 -0.59 -116.8 3128 2394 3384 3290 43.5 -11.9 42 469 0.00 2.58 0.00 0.000 260 0.000 0.082 3128 3814 3335 3381 3290 0 0 0 0 0 0 28.83 13.87 28.83

586 -0.59 -116.8 3128 3813 3381 3290 57.5 -11.1 54 597 0.00 2.50 0.00 0.000 1030 0.000 0.057 3128 2396 3336 3380 3293 0 0 0 0 0 0 28.83 13.86 28.83

839 -0.59 -116.8 3128 2389 3381 3290 84.1 -8.3 79 849 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2392 3336 3381 3291 0 0 0 0 0 0 28.83 28.83 28.83

1091 -0.59 -116.8 3128 2392 3383 3291 105.2 -7.7 104 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2392 3336 3381 3291 0 0 0 0 0 0 28.83 28.83 28.83

1343 -0.59 -116.8 3128 2392 3382 3292 125.1 -7.8 129 1354 0.00 2.62 0.00 0.000 260 0.000 0.083 3128 3814 3337 3382 3292 0 0 0 0 0 0 28.83 13.85 28.83

1415 -0.59 -116.8 3128 3814 3382 3292 131.0 -7.9 136 1426 0.00 2.53 0.00 0.000 1030 0.000 0.057 3128 2389 3336 3381 3292 0 0 0 0 0 0 28.83 13.85 28.83

1668 -0.59 -116.8 3128 2388 3382 3292 149.7 -7.6 161 1678 0.00 2.62 0.00 0.000 260 0.000 0.082 3129 3814 3336 3381 3292 0 0 0 0 0 0 28.83 13.83 28.83

1730 -0.59 -116.8 3126 3814 3382 3292 154.7 -8.1 167 1741 0.00 2.50 0.00 0.000 1030 0.000 0.057 3128 2397 3336 3381 3292 0 0 0 0 0 0 28.83 13.85 28.83

1982 -0.59 -116.8 3132 2394 3377 3292 177.4 -9.9 192 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2394 3337 3382 3292 0 0 0 0 0 0 28.83 28.83 28.83

2233 -0.59 -116.8 3128 2390 3382 3292 201.5 -9.7 217 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2394 3336 3381 3292 0 0 0 0 0 0 28.83 28.83 28.83

2484 -0.59 -116.8 3128 2394 3381 3292 222.1 -7.1 242 2495 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2394 3334 3377 3292 0 0 0 0 0 0 28.83 28.83 28.83

2738 -0.59 -116.8 3128 2398 3382 3292 239.7 -7.0 267 2748 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2394 3336 3381 3292 0 0 0 0 0 0 28.83 28.83 28.83

3009 -0.59 -116.8 3128 2394 3381 3292 259.1 -7.5 286 3019 0.00 2.65 0.00 0.000 260 0.000 0.084 3128 3820 3336 3382 3291 0 0 0 0 0 0 28.83 13.81 28.83

3081 -0.59 -116.8 3128 3824 3382 3291 264.7 -7.5 293 3091 0.00 2.53 0.00 0.000 1030 0.000 0.057 3124 2400 3336 3381 3291 0 0 0 0 0 0 28.83 13.90 28.83

3402 -0.59 -116.8 3128 2398 3381 3287 290.6 -7.9 305 3412 0.00 2.62 0.00 0.000 260 0.000 0.085 3128 3809 3336 3381 3291 0 0 0 0 0 0 28.83 13.81 28.83

3428 end dive: TARGET_DEPTH_EXCEEDED

state 3428 begin apogee

3444 -0.25 0.0 3127 2314 3382 3291 293.1 -8.5 308 3544 0.38 0.00 93.10 1.034 10246 0.170 0.000 3236 2313 2858 2930 2787 0 0 0 0 0 0 13.61 28.83 13.47

3546 end apogee: CONTROL_FINISHED_OK

state 3546 begin climb

3551 0.59 116.8 3236 2313 2928 2784 297.9 0.0 311 3667 0.85 2.55 94.95 1.023 10756 0.122 0.073 3519 930 2377 2503 2252 0 0 0 0 0 0 13.88 14.00 13.36

3769 0.64 187.8 3517 930 2503 2252 294.5 4.3 335 3837 0.00 2.50 56.08 1.013 9222 0.000 0.066 3518 2338 2090 2235 1946 0 0 0 0 0 0 28.83 13.99 13.39

4158 0.64 187.8 3519 2338 2234 1947 268.6 7.4 354 4169 0.00 2.53 0.00 0.000 260 0.000 0.083 3519 3740 2090 2234 1947 0 0 0 0 0 0 28.83 13.98 28.83

4280 0.64 187.8 3518 3735 2229 1948 259.7 7.6 366 4291 0.00 2.50 0.00 0.000 1030 0.000 0.060 3519 2323 2094 2240 1948 0 0 0 0 0 0 28.83 14.06 28.83

4593 0.69 257.0 3515 2324 2234 1948 243.0 4.4 387 4661 0.00 2.53 54.65 0.972 8708 0.000 0.077 3519 923 1807 1950 1664 0 0 0 0 0 0 28.83 14.15 13.56

4723 0.72 257.0 3519 925 1950 1664 236.0 5.9 400 4734 0.12 2.50 0.00 0.000 3078 0.135 0.067 3581 2337 1807 1950 1664 0 0 0 0 0 0 14.02 14.03 28.83

4977 0.72 257.0 3581 2336 1946 1664 213.9 9.8 425 4986 0.00 0.00 0.00 0.000 6 0.000 0.000 3580 2336 1807 1950 1664 0 0 0 0 0 0 28.83 28.83 28.83

5229 0.72 257.0 3580 2336 1949 1664 188.8 10.0 450 5240 0.00 0.00 0.00 0.000 6 0.000 0.000 3580 2336 1807 1950 1664 0 0 0 0 0 0 28.83 28.83 28.83

5484 0.72 257.0 3581 2336 1950 1664 164.2 8.6 475 5495 0.00 2.53 0.00 0.000 516 0.000 0.075 3587 938 1805 1946 1664 0 0 0 0 0 0 28.83 13.97 28.83

5546 0.72 257.0 3588 934 1950 1664 158.4 8.9 481 5557 0.12 2.50 0.00 0.000 5126 0.227 0.067 3558 2341 1807 1950 1664 0 0 0 0 0 0 13.83 14.03 28.83

5798 0.72 257.0 3564 2340 1950 1664 137.1 9.1 506 5810 0.00 2.53 0.00 0.000 260 0.000 0.083 3558 3737 1807 1950 1664 0 0 0 0 0 0 28.83 13.95 28.83

5861 0.72 257.0 3559 3737 1950 1661 130.6 10.9 512 5871 0.00 2.47 0.00 0.000 1030 0.000 0.060 3562 2333 1807 1950 1664 0 0 0 0 0 0 28.83 14.03 28.83

6113 0.72 257.0 3561 2333 1950 1664 107.4 8.3 537 6124 0.00 2.53 0.00 0.000 516 0.000 0.076 3562 923 1807 1950 1664 0 0 0 0 0 0 28.83 13.94 28.83

6196 0.72 257.0 3563 923 1950 1664 100.5 8.6 545 6207 0.00 2.50 0.00 0.000 1030 0.000 0.067 3562 2329 1807 1950 1664 0 0 0 0 0 0 28.83 14.01 28.83

6449 0.72 257.0 3562 2334 1950 1664 81.1 7.8 570 6460 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2328 1807 1950 1664 0 0 0 0 0 0 28.83 28.83 28.83

6704 0.76 257.0 3562 2328 1950 1664 65.7 5.4 595 6715 0.00 2.58 0.00 0.000 260 0.000 0.083 3562 3736 1807 1951 1664 0 0 0 0 0 0 28.83 13.93 28.83

6810 0.76 257.0 3562 3736 1950 1664 58.7 7.3 605 6821 0.00 2.50 0.00 0.000 1030 0.000 0.059 3562 2320 1806 1950 1663 0 0 0 0 0 0 28.83 14.00 28.83

7062 0.78 257.0 3563 2318 1950 1663 42.5 6.3 630 7074 0.00 2.50 0.00 0.000 516 0.000 0.074 3567 923 1806 1950 1663 0 0 0 0 0 0 28.83 13.83 28.83

7125 0.81 257.0 3562 922 1950 1659 38.9 5.8 636 7136 0.00 2.50 0.00 0.000 1030 0.000 0.065 3562 2329 1806 1950 1662 0 0 0 0 0 0 28.83 13.98 28.83

7380 0.83 257.0 3563 2329 1950 1663 24.3 6.2 661 7391 0.00 2.55 0.00 0.000 260 0.000 0.081 3562 3741 1806 1949 1663 0 0 0 0 0 0 28.83 13.90 28.83

7552 0.86 257.0 3562 3741 1945 1662 13.9 6.0 678 7564 0.12 2.50 0.00 0.000 3078 0.129 0.059 3617 2319 1805 1949 1662 0 0 0 0 0 0 13.96 13.97 28.83

7691 end climb: SURFACE_DEPTH_REACHED

state 7691 begin surface coast

7742 end surface coast: CONTROL_FINISHED_OK

state 7742 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	829	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	26	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	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	-1595500.8	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	210115,205536,4753.300,-12515.018,70,1.1,70,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	2	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.57	MHEAD_RNG_PITCHd_Wd	185.0,165374,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-71.8	D_GRID	293
GPS2	210115,210637,4753.349,-12515.005,18,1.9,18,18.8

FINISH	1.5,1.024623	_10V_AH	12.4,0.000
SM_CCo	7772,40.17,0.088,0,0,1430,350.04	FG_AHR_24Vo	0.000
SM_GC	2.79,9.30,0.15,40.17,0.054,0.125,0.088,388,2399,1430,-9.10,-0.82,350.04,0,0,0,0,0,0,14.01,14.09,14.05	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12508.73,210115,181805	MEM	290836
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23358,697
HUMID	51.73	CAP_FILE_SIZE	127106,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260034560,170942464
TCM_TEMP	19.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	INTR	0,8318.98,0x2378ba,7,5
SC_FREEKB	3672704	CURRENT	0.098, 21.1,1
PM_FREEKB	36617728	GPS	210115,231831,4752.979,-12515.275,15,1.5,16,18.8
_24V_AH	13.4,208.955

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	368	115.62	nil	0	0	0.00
Roll_motor	76	125	128.40	nil	0	0	0.00
VBD_pump_during_apogee	298	1034	4140.83	nil	0	0	0.00
VBD_pump_during_surface	40	87	47.36	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	7773	7	794.41
Iridium_during_xfer	262	166	586.17	PMAR	108	4	7.13
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.49
TT8	1648	10	208.85
LPSleep	4108	2	111.57
TT8_Active	512	10	64.98
TT8_Sampling	1532	28	550.14
TT8_CF8	661	35	292.68
TT8_Kalman	0	0	0.00
Analog_circuits	1520	10	188.59
GPS_charging	0	0	0.00
Compass	1108	0	10.31
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
29	-0.59	-116.8	388	2398	1533	1329	0.0	0.0	0	71	0.00	0.00	-36.53	0.000	16386	0.000	0.000	388	2400	2360	2463	2258	0	0	0	0	0	0	28.83	28.83	28.83
78	-0.59	-116.8	388	2400	2453	2257	3.0	-1.5	4	132	12.50	2.55	-30.73	0.000	18948	0.369	0.086	3133	983	3333	3380	3287	0	0	0	0	0	0	13.76	14.02	14.37
205	-0.59	-116.8	3128	983	3381	3290	13.7	-11.2	17	216	0.00	2.55	0.00	0.000	1030	0.000	0.068	3128	2395	3335	3381	3289	0	0	0	0	0	0	28.83	13.95	28.83
458	-0.59	-116.8	3128	2394	3384	3290	43.5	-11.9	42	469	0.00	2.58	0.00	0.000	260	0.000	0.082	3128	3814	3335	3381	3290	0	0	0	0	0	0	28.83	13.87	28.83
586	-0.59	-116.8	3128	3813	3381	3290	57.5	-11.1	54	597	0.00	2.50	0.00	0.000	1030	0.000	0.057	3128	2396	3336	3380	3293	0	0	0	0	0	0	28.83	13.86	28.83
839	-0.59	-116.8	3128	2389	3381	3290	84.1	-8.3	79	849	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2392	3336	3381	3291	0	0	0	0	0	0	28.83	28.83	28.83
1091	-0.59	-116.8	3128	2392	3383	3291	105.2	-7.7	104	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2392	3336	3381	3291	0	0	0	0	0	0	28.83	28.83	28.83
1343	-0.59	-116.8	3128	2392	3382	3292	125.1	-7.8	129	1354	0.00	2.62	0.00	0.000	260	0.000	0.083	3128	3814	3337	3382	3292	0	0	0	0	0	0	28.83	13.85	28.83
1415	-0.59	-116.8	3128	3814	3382	3292	131.0	-7.9	136	1426	0.00	2.53	0.00	0.000	1030	0.000	0.057	3128	2389	3336	3381	3292	0	0	0	0	0	0	28.83	13.85	28.83
1668	-0.59	-116.8	3128	2388	3382	3292	149.7	-7.6	161	1678	0.00	2.62	0.00	0.000	260	0.000	0.082	3129	3814	3336	3381	3292	0	0	0	0	0	0	28.83	13.83	28.83
1730	-0.59	-116.8	3126	3814	3382	3292	154.7	-8.1	167	1741	0.00	2.50	0.00	0.000	1030	0.000	0.057	3128	2397	3336	3381	3292	0	0	0	0	0	0	28.83	13.85	28.83
1982	-0.59	-116.8	3132	2394	3377	3292	177.4	-9.9	192	1992	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2394	3337	3382	3292	0	0	0	0	0	0	28.83	28.83	28.83
2233	-0.59	-116.8	3128	2390	3382	3292	201.5	-9.7	217	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2394	3336	3381	3292	0	0	0	0	0	0	28.83	28.83	28.83
2484	-0.59	-116.8	3128	2394	3381	3292	222.1	-7.1	242	2495	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2394	3334	3377	3292	0	0	0	0	0	0	28.83	28.83	28.83
2738	-0.59	-116.8	3128	2398	3382	3292	239.7	-7.0	267	2748	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2394	3336	3381	3292	0	0	0	0	0	0	28.83	28.83	28.83
3009	-0.59	-116.8	3128	2394	3381	3292	259.1	-7.5	286	3019	0.00	2.65	0.00	0.000	260	0.000	0.084	3128	3820	3336	3382	3291	0	0	0	0	0	0	28.83	13.81	28.83
3081	-0.59	-116.8	3128	3824	3382	3291	264.7	-7.5	293	3091	0.00	2.53	0.00	0.000	1030	0.000	0.057	3124	2400	3336	3381	3291	0	0	0	0	0	0	28.83	13.90	28.83
3402	-0.59	-116.8	3128	2398	3381	3287	290.6	-7.9	305	3412	0.00	2.62	0.00	0.000	260	0.000	0.085	3128	3809	3336	3381	3291	0	0	0	0	0	0	28.83	13.81	28.83
3428	end dive: TARGET_DEPTH_EXCEEDED
state	3428	begin apogee
3444	-0.25	0.0	3127	2314	3382	3291	293.1	-8.5	308	3544	0.38	0.00	93.10	1.034	10246	0.170	0.000	3236	2313	2858	2930	2787	0	0	0	0	0	0	13.61	28.83	13.47
3546	end apogee: CONTROL_FINISHED_OK
state	3546	begin climb
3551	0.59	116.8	3236	2313	2928	2784	297.9	0.0	311	3667	0.85	2.55	94.95	1.023	10756	0.122	0.073	3519	930	2377	2503	2252	0	0	0	0	0	0	13.88	14.00	13.36
3769	0.64	187.8	3517	930	2503	2252	294.5	4.3	335	3837	0.00	2.50	56.08	1.013	9222	0.000	0.066	3518	2338	2090	2235	1946	0	0	0	0	0	0	28.83	13.99	13.39
4158	0.64	187.8	3519	2338	2234	1947	268.6	7.4	354	4169	0.00	2.53	0.00	0.000	260	0.000	0.083	3519	3740	2090	2234	1947	0	0	0	0	0	0	28.83	13.98	28.83
4280	0.64	187.8	3518	3735	2229	1948	259.7	7.6	366	4291	0.00	2.50	0.00	0.000	1030	0.000	0.060	3519	2323	2094	2240	1948	0	0	0	0	0	0	28.83	14.06	28.83
4593	0.69	257.0	3515	2324	2234	1948	243.0	4.4	387	4661	0.00	2.53	54.65	0.972	8708	0.000	0.077	3519	923	1807	1950	1664	0	0	0	0	0	0	28.83	14.15	13.56
4723	0.72	257.0	3519	925	1950	1664	236.0	5.9	400	4734	0.12	2.50	0.00	0.000	3078	0.135	0.067	3581	2337	1807	1950	1664	0	0	0	0	0	0	14.02	14.03	28.83
4977	0.72	257.0	3581	2336	1946	1664	213.9	9.8	425	4986	0.00	0.00	0.00	0.000	6	0.000	0.000	3580	2336	1807	1950	1664	0	0	0	0	0	0	28.83	28.83	28.83
5229	0.72	257.0	3580	2336	1949	1664	188.8	10.0	450	5240	0.00	0.00	0.00	0.000	6	0.000	0.000	3580	2336	1807	1950	1664	0	0	0	0	0	0	28.83	28.83	28.83
5484	0.72	257.0	3581	2336	1950	1664	164.2	8.6	475	5495	0.00	2.53	0.00	0.000	516	0.000	0.075	3587	938	1805	1946	1664	0	0	0	0	0	0	28.83	13.97	28.83
5546	0.72	257.0	3588	934	1950	1664	158.4	8.9	481	5557	0.12	2.50	0.00	0.000	5126	0.227	0.067	3558	2341	1807	1950	1664	0	0	0	0	0	0	13.83	14.03	28.83
5798	0.72	257.0	3564	2340	1950	1664	137.1	9.1	506	5810	0.00	2.53	0.00	0.000	260	0.000	0.083	3558	3737	1807	1950	1664	0	0	0	0	0	0	28.83	13.95	28.83
5861	0.72	257.0	3559	3737	1950	1661	130.6	10.9	512	5871	0.00	2.47	0.00	0.000	1030	0.000	0.060	3562	2333	1807	1950	1664	0	0	0	0	0	0	28.83	14.03	28.83
6113	0.72	257.0	3561	2333	1950	1664	107.4	8.3	537	6124	0.00	2.53	0.00	0.000	516	0.000	0.076	3562	923	1807	1950	1664	0	0	0	0	0	0	28.83	13.94	28.83
6196	0.72	257.0	3563	923	1950	1664	100.5	8.6	545	6207	0.00	2.50	0.00	0.000	1030	0.000	0.067	3562	2329	1807	1950	1664	0	0	0	0	0	0	28.83	14.01	28.83
6449	0.72	257.0	3562	2334	1950	1664	81.1	7.8	570	6460	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2328	1807	1950	1664	0	0	0	0	0	0	28.83	28.83	28.83
6704	0.76	257.0	3562	2328	1950	1664	65.7	5.4	595	6715	0.00	2.58	0.00	0.000	260	0.000	0.083	3562	3736	1807	1951	1664	0	0	0	0	0	0	28.83	13.93	28.83
6810	0.76	257.0	3562	3736	1950	1664	58.7	7.3	605	6821	0.00	2.50	0.00	0.000	1030	0.000	0.059	3562	2320	1806	1950	1663	0	0	0	0	0	0	28.83	14.00	28.83
7062	0.78	257.0	3563	2318	1950	1663	42.5	6.3	630	7074	0.00	2.50	0.00	0.000	516	0.000	0.074	3567	923	1806	1950	1663	0	0	0	0	0	0	28.83	13.83	28.83
7125	0.81	257.0	3562	922	1950	1659	38.9	5.8	636	7136	0.00	2.50	0.00	0.000	1030	0.000	0.065	3562	2329	1806	1950	1662	0	0	0	0	0	0	28.83	13.98	28.83
7380	0.83	257.0	3563	2329	1950	1663	24.3	6.2	661	7391	0.00	2.55	0.00	0.000	260	0.000	0.081	3562	3741	1806	1949	1663	0	0	0	0	0	0	28.83	13.90	28.83
7552	0.86	257.0	3562	3741	1945	1662	13.9	6.0	678	7564	0.12	2.50	0.00	0.000	3078	0.129	0.059	3617	2319	1805	1949	1662	0	0	0	0	0	0	13.96	13.97	28.83
7691	end climb: SURFACE_DEPTH_REACHED
state	7691	begin surface coast
7742	end surface coast: CONTROL_FINISHED_OK
state	7742	begin surface