Glider dive log

Kona Oct17 * SG204 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 20

MISSION 21 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 21 ALTIM_PULSE 2

DIVE 131 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0.60000002

D_TGT 850 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 3145 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00069999998 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 3

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 300 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 500 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 PHONE_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_W 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_24V 150 SIM_PITCH 0

USE_ICE 0 PITCH_MIN 210 AH0_10V 97 SEABIRD_T_G 0.0043580476

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_24V 16 SEABIRD_T_H 0.00063004985

D_OFFGRID 1010 C_PITCH 3000 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

RELAUNCH 1 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

MAX_BUOY 150 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

COURSE_BIAS 0 PITCH_GAIN 24 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_YINT -171.85684 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_AD_RATE 140 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

RHO 1.026 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

MASS 52527 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 PM_PROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_N 0 PM_XMITPROFILE 0.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

HD_A 0.0044816299 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_24V 150 FERRY_MAX 45 PITCH_GAIN 24 SEABIRD_T_J 2.6474129e-06

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_FREQUENCY 20 FG_AHR_24V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MIN 210 SM_CC 500

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_N 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_DBAND 0 STROBE 0

ALTIM_SENSITIVITY 5 HD_A 0.0044816299 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAPDBG 0 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITPROFILE 0.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ID 204 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PRESSURE_YINT -171.85684 T_BOOST 4

CF8_MAXERRORS 20 KALMAN_USE 2 PROTOCOL 9 T_DIVE 300

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT 0.039999999 T_EPIRB 0

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_MISSION 500

COURSE_BIAS 0 LOGGERS 3 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_PITCH 3000 LOITER_DBDW 0 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_CLIMB 2400 LOITER_D_NO_PUMP 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_DIVE 2500 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD 3145 MASS 52527 RHO 1.026 T_WATCHDOG 10

DBDW 0 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE2 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE3 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MINV_24V 16 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE5 -1 MISSION 21 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DIVE 131 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1010 NOCOMM_ACTION 163 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

D_BOOST 50 N_DIVES 0 R_STBD_OVSHOOT 21 VBD_MIN 500

D_CALL 0 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_FINISH 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FLARE 3 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_NO_BLEED 200 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_OFFGRID 1010 PHONE_DEVICE 48 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_PITCH 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 99

D_SAFE 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 6

D_SURF 2 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_TGT 850 PITCH_AD_RATE 140 SEABIRD_T_G 0.0043580476

Pre-dive calculations and measurements:

GPS1 051117,023431,1937.5201,-15601.5576,19,1.5,20,9.5,0.2,0.0,5,8.0 SPEED_LIMITS 0.164,0.186

_CALLS 1 TGT_NAME SHELF2

_XMS_NAKs 0 TGT_LATLONG 1937.000,-15603.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.90 MHEAD_RNG_PITCHd_Wd 248.0,2801,-26.0,-9.444,-29.79,1892

_SM_ANGLEo -68.8 D_GRID 1010

GPS2 051117,024426,1937.4849,-15601.4795,3,1.4,4,9.5,0.2,0.0,5,8.9

Post-dive calculations and measurements:

FINISH 0.2,1.011333 PM_FREEKB_06 0

SM_CCo 6339,154.57,0.100,0,0,1103,500.17 PM_FREEKB_07 488640

SM_GC 1.00,12.48,0.22,154.57,0.072,0.060,0.100,191,2504,1103,-8.67,-0.54,500.17,0,0,0,0,0,0,20.23,20.20,20.06 PM_ACTIVECARD 4

IRIDIUM_FIX 1937.52,-15604.81,041117,215645 _24V_AH 19.40,44.302

TT8_MAMPS 0.045689,0.32956 _10V_AH 10.09,31.364

HUMID 49.21 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.3308 FG_AHR_10Vo 0.000

TCM_TEMP 24.60 MEM 215700

XPDR_PINGS 0 DATA_FILE_SIZE 20088,567

PM_FREEKB_00 0 CAP_FILE_SIZE 72785,0

PM_FREEKB_01 0 CFSIZE 260030464,239828992

PM_FREEKB_02 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0

PM_FREEKB_03 0 CURRENT 0.128,161.11,1

PM_FREEKB_04 0 GPS 051117,043401,1936.881,-15601.788,24,0.8,24,9.5,0.4,130.2,9,4.9

PM_FREEKB_05 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 236 147.44 nil 0 0 0.00

Roll_motor 79 956 1467.87 nil 0 0 0.00

VBD_pump_during_apogee 380 627 4629.93 nil 0 0 0.00

VBD_pump_during_surface 154 100 300.52 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 6340 5 645.73

Iridium_during_xfer 443 120 1034.42 PMAR 6329 29 3577.76

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 12 0.74

TT8 0 0 0.00

LPSleep 4528 2 100.06

TT8_Active 666 13 89.53

TT8_Sampling 1760 44 782.05

TT8_CF8 134 55 74.99

TT8_Kalman 0 0 0.00

Analog_circuits 1604 11 184.53

GPS_charging 0 0 0.00

Compass 1013 8 84.24

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.17 -116.2 190 2512 1171 1036 0.0 0.0 0 118 0.00 0.00 -101.40 0.000 16390 0.000 0.000 188 2512 3619 3551 3688 0 0 0 0 0 0 20.39 19.57 20.43

120 -1.19 -146.2 189 2513 3552 3689 3.8 -6.2 10 146 16.23 3.12 -2.22 0.000 18980 0.236 0.956 2609 1109 3744 3684 3804 1 0 0 0 0 0 19.90 19.40 20.04

281 -1.19 -146.2 2609 1109 3689 3804 41.2 -17.6 42 287 0.00 2.92 0.00 0.000 1030 0.000 0.043 2600 2492 3746 3688 3805 0 0 0 0 0 0 20.21 20.15 20.23

601 -1.19 -146.2 2600 2491 3690 3804 96.9 -16.9 57 606 0.00 2.88 0.00 0.000 516 0.000 0.039 2606 1103 3747 3689 3805 0 0 0 0 0 0 20.42 20.18 20.47

681 -1.19 -146.2 2606 1102 3690 3804 108.9 -13.9 73 686 0.00 2.95 0.00 0.000 1030 0.000 0.044 2597 2506 3746 3689 3804 0 0 0 0 0 0 20.23 20.16 20.25

991 -1.19 -146.2 2598 2509 3693 3806 153.3 -14.2 85 996 0.00 2.90 0.00 0.000 516 0.000 0.037 2601 1097 3748 3693 3804 0 0 0 0 0 0 20.44 20.18 20.47

1131 -1.19 -146.2 2602 1097 3693 3805 168.7 -10.6 113 1136 0.00 2.95 0.00 0.000 1030 0.000 0.042 2592 2507 3748 3693 3804 0 0 0 0 0 0 20.24 20.17 20.26

1442 -1.19 -146.2 2592 2508 3695 3806 205.5 -12.9 125 1447 0.00 2.55 0.00 0.000 260 0.000 0.055 2583 3700 3749 3694 3804 0 0 0 0 0 0 20.44 20.16 20.48

1541 -1.19 -146.2 2583 3700 3695 3804 217.3 -11.3 145 1547 0.10 2.45 0.00 0.000 3078 0.163 0.035 2607 2509 3749 3694 3804 0 0 0 0 0 0 20.06 20.22 20.16

1862 -1.19 -146.2 2607 2510 3697 3805 244.4 -8.7 159 1868 0.00 2.92 0.00 0.000 548 0.000 0.040 2617 1090 3749 3695 3804 0 0 0 0 0 0 20.44 20.19 20.48

1958 -1.19 -146.2 2618 1090 3697 3804 252.2 -8.4 178 1962 0.00 2.92 0.00 0.000 1062 0.000 0.038 2609 2498 3750 3696 3805 0 0 0 0 0 0 20.25 20.20 20.28

2279 -1.19 -146.2 2608 2499 3693 3805 280.2 -8.9 187 2284 0.00 2.92 0.00 0.000 548 0.000 0.041 2619 1091 3749 3695 3804 0 0 0 0 0 0 20.44 20.18 20.49

2363 -1.19 -146.2 2617 1092 3696 3805 290.1 -12.5 204 2369 0.00 2.92 0.00 0.000 1030 0.000 0.038 2607 2502 3749 3695 3804 0 0 0 0 0 0 20.26 20.20 20.28

2699 -1.19 -146.2 2608 2505 3695 3805 322.0 -8.1 216 2704 0.00 2.55 0.00 0.000 292 0.000 0.056 2599 3699 3749 3694 3804 0 0 0 0 0 0 20.45 20.18 20.49

2833 end dive: NO_VERTICAL_VELOCITY

state 2833 begin apogee

2839 -0.21 0.0 2609 2390 3694 3801 322.0 0.0 243 2992 1.42 0.00 149.40 0.627 10246 0.125 0.000 2923 2389 3144 3173 3116 0 0 0 0 0 0 20.09 19.97 19.56

2993 end apogee: CONTROL_FINISHED_OK

state 2993 begin climb

2995 1.19 146.2 2924 2389 3168 3112 322.1 0.0 245 3152 1.92 2.85 146.95 0.608 10756 0.106 0.033 3385 999 2543 2575 2512 0 0 0 0 0 0 19.98 19.85 19.56

3301 1.19 146.2 3385 998 2562 2511 289.3 13.8 307 3307 0.00 2.88 0.00 0.000 1030 0.000 0.030 3385 2401 2535 2561 2510 0 0 0 0 0 0 20.17 20.12 20.20

3652 1.19 146.2 3385 2402 2559 2502 247.7 11.4 322 3654 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 2401 2529 2558 2501 0 0 0 0 0 0 20.39 20.44 20.43

3952 1.19 146.2 3386 2401 2556 2496 217.1 10.3 332 3958 0.00 2.90 0.00 0.000 516 0.000 0.033 3396 999 2526 2555 2497 0 0 0 0 0 0 20.41 20.17 20.45

4017 1.19 146.2 3395 1000 2556 2497 209.7 12.1 345 4023 0.00 2.88 0.00 0.000 1030 0.000 0.030 3395 2402 2525 2554 2497 0 0 0 0 0 0 20.23 20.17 20.25

4343 1.19 146.2 3396 2402 2552 2493 175.4 10.6 360 4349 0.00 2.75 0.00 0.000 260 0.000 0.050 3395 3702 2522 2551 2493 0 0 0 0 0 0 20.42 20.16 20.47

4488 1.19 146.2 3396 3700 2552 2488 158.8 10.1 389 4495 0.00 2.65 0.00 0.000 1030 0.000 0.028 3405 2397 2519 2550 2488 0 0 0 0 0 0 20.25 20.23 20.27

4794 1.21 174.8 3405 2397 2550 2487 134.9 7.9 400 4825 0.00 2.80 26.27 0.502 8484 0.000 0.049 3404 3701 2423 2466 2380 0 0 0 0 0 0 20.43 19.93 19.68

4930 1.21 183.7 3405 3701 2460 2372 123.4 9.0 427 4947 0.00 2.60 8.27 0.467 9254 0.000 0.029 3413 2398 2393 2440 2346 0 0 0 0 0 0 20.25 20.23 19.71

5245 1.23 214.2 3414 2399 2435 2343 97.1 7.8 440 5286 0.00 2.92 33.22 0.468 8740 0.000 0.034 3425 998 2262 2309 2215 0 0 0 0 0 0 20.42 20.05 19.70

5415 1.23 214.2 3424 998 2300 2213 82.0 9.4 474 5420 0.00 2.85 0.00 0.000 1062 0.000 0.030 3422 2399 2256 2299 2214 0 0 0 0 0 0 20.23 20.17 20.25

5726 1.24 227.9 3422 2400 2300 2211 54.4 8.7 486 5746 0.00 2.80 13.82 0.430 8484 0.000 0.049 3412 3696 2207 2260 2155 0 0 0 0 0 0 20.43 20.09 19.76

5890 1.24 227.9 3412 3697 2254 2151 38.2 10.0 519 5903 0.00 2.62 0.00 0.000 1030 0.000 0.028 3420 2403 2201 2253 2149 0 0 0 0 0 0 20.25 20.23 20.26

6199 1.25 234.6 3421 2403 2254 2149 11.0 9.1 550 6210 0.00 2.90 2.50 0.132 8740 0.000 0.034 3431 1008 2189 2244 2134 0 0 0 0 0 0 20.43 20.19 20.06

6240 1.25 234.6 3430 1009 2250 2138 6.9 10.0 558 6245 0.00 2.85 0.00 0.000 1030 0.000 0.034 3426 2397 2193 2250 2136 0 0 0 0 0 0 20.25 20.18 20.26

6299 end climb: SURFACE_DEPTH_REACHED

state 6299 begin surface coast

6319 end surface coast: CONTROL_FINISHED_OK

state 6319 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	20
MISSION	21	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	21	ALTIM_PULSE	2
DIVE	131	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0.60000002
D_TGT	850	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	3145	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00069999998	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	3
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	300	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	500	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	PHONE_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_W	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_24V	150	SIM_PITCH	0
USE_ICE	0	PITCH_MIN	210	AH0_10V	97	SEABIRD_T_G	0.0043580476
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_24V	16	SEABIRD_T_H	0.00063004985
D_OFFGRID	1010	C_PITCH	3000	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
RELAUNCH	1	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
MAX_BUOY	150	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
COURSE_BIAS	0	PITCH_GAIN	24	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_YINT	-171.85684	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_AD_RATE	140	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
RHO	1.026	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
MASS	52527	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	PM_PROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_N	0	PM_XMITPROFILE	0.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
HD_A	0.0044816299	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	051117,023431,1937.5201,-15601.5576,19,1.5,20,9.5,0.2,0.0,5,8.0	SPEED_LIMITS	0.164,0.186
_CALLS	1	TGT_NAME	SHELF2
_XMS_NAKs	0	TGT_LATLONG	1937.000,-15603.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.90	MHEAD_RNG_PITCHd_Wd	248.0,2801,-26.0,-9.444,-29.79,1892
_SM_ANGLEo	-68.8	D_GRID	1010
GPS2	051117,024426,1937.4849,-15601.4795,3,1.4,4,9.5,0.2,0.0,5,8.9

FINISH	0.2,1.011333	PM_FREEKB_06	0
SM_CCo	6339,154.57,0.100,0,0,1103,500.17	PM_FREEKB_07	488640
SM_GC	1.00,12.48,0.22,154.57,0.072,0.060,0.100,191,2504,1103,-8.67,-0.54,500.17,0,0,0,0,0,0,20.23,20.20,20.06	PM_ACTIVECARD	4
IRIDIUM_FIX	1937.52,-15604.81,041117,215645	_24V_AH	19.40,44.302
TT8_MAMPS	0.045689,0.32956	_10V_AH	10.09,31.364
HUMID	49.21	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.3308	FG_AHR_10Vo	0.000
TCM_TEMP	24.60	MEM	215700
XPDR_PINGS	0	DATA_FILE_SIZE	20088,567
PM_FREEKB_00	0	CAP_FILE_SIZE	72785,0
PM_FREEKB_01	0	CFSIZE	260030464,239828992
PM_FREEKB_02	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
PM_FREEKB_03	0	CURRENT	0.128,161.11,1
PM_FREEKB_04	0	GPS	051117,043401,1936.881,-15601.788,24,0.8,24,9.5,0.4,130.2,9,4.9
PM_FREEKB_05	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	236	147.44	nil	0	0	0.00
Roll_motor	79	956	1467.87	nil	0	0	0.00
VBD_pump_during_apogee	380	627	4629.93	nil	0	0	0.00
VBD_pump_during_surface	154	100	300.52	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	6340	5	645.73
Iridium_during_xfer	443	120	1034.42	PMAR	6329	29	3577.76
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	12	0.74
TT8	0	0	0.00
LPSleep	4528	2	100.06
TT8_Active	666	13	89.53
TT8_Sampling	1760	44	782.05
TT8_CF8	134	55	74.99
TT8_Kalman	0	0	0.00
Analog_circuits	1604	11	184.53
GPS_charging	0	0	0.00
Compass	1013	8	84.24
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.17	-116.2	190	2512	1171	1036	0.0	0.0	0	118	0.00	0.00	-101.40	0.000	16390	0.000	0.000	188	2512	3619	3551	3688	0	0	0	0	0	0	20.39	19.57	20.43
120	-1.19	-146.2	189	2513	3552	3689	3.8	-6.2	10	146	16.23	3.12	-2.22	0.000	18980	0.236	0.956	2609	1109	3744	3684	3804	1	0	0	0	0	0	19.90	19.40	20.04
281	-1.19	-146.2	2609	1109	3689	3804	41.2	-17.6	42	287	0.00	2.92	0.00	0.000	1030	0.000	0.043	2600	2492	3746	3688	3805	0	0	0	0	0	0	20.21	20.15	20.23
601	-1.19	-146.2	2600	2491	3690	3804	96.9	-16.9	57	606	0.00	2.88	0.00	0.000	516	0.000	0.039	2606	1103	3747	3689	3805	0	0	0	0	0	0	20.42	20.18	20.47
681	-1.19	-146.2	2606	1102	3690	3804	108.9	-13.9	73	686	0.00	2.95	0.00	0.000	1030	0.000	0.044	2597	2506	3746	3689	3804	0	0	0	0	0	0	20.23	20.16	20.25
991	-1.19	-146.2	2598	2509	3693	3806	153.3	-14.2	85	996	0.00	2.90	0.00	0.000	516	0.000	0.037	2601	1097	3748	3693	3804	0	0	0	0	0	0	20.44	20.18	20.47
1131	-1.19	-146.2	2602	1097	3693	3805	168.7	-10.6	113	1136	0.00	2.95	0.00	0.000	1030	0.000	0.042	2592	2507	3748	3693	3804	0	0	0	0	0	0	20.24	20.17	20.26
1442	-1.19	-146.2	2592	2508	3695	3806	205.5	-12.9	125	1447	0.00	2.55	0.00	0.000	260	0.000	0.055	2583	3700	3749	3694	3804	0	0	0	0	0	0	20.44	20.16	20.48
1541	-1.19	-146.2	2583	3700	3695	3804	217.3	-11.3	145	1547	0.10	2.45	0.00	0.000	3078	0.163	0.035	2607	2509	3749	3694	3804	0	0	0	0	0	0	20.06	20.22	20.16
1862	-1.19	-146.2	2607	2510	3697	3805	244.4	-8.7	159	1868	0.00	2.92	0.00	0.000	548	0.000	0.040	2617	1090	3749	3695	3804	0	0	0	0	0	0	20.44	20.19	20.48
1958	-1.19	-146.2	2618	1090	3697	3804	252.2	-8.4	178	1962	0.00	2.92	0.00	0.000	1062	0.000	0.038	2609	2498	3750	3696	3805	0	0	0	0	0	0	20.25	20.20	20.28
2279	-1.19	-146.2	2608	2499	3693	3805	280.2	-8.9	187	2284	0.00	2.92	0.00	0.000	548	0.000	0.041	2619	1091	3749	3695	3804	0	0	0	0	0	0	20.44	20.18	20.49
2363	-1.19	-146.2	2617	1092	3696	3805	290.1	-12.5	204	2369	0.00	2.92	0.00	0.000	1030	0.000	0.038	2607	2502	3749	3695	3804	0	0	0	0	0	0	20.26	20.20	20.28
2699	-1.19	-146.2	2608	2505	3695	3805	322.0	-8.1	216	2704	0.00	2.55	0.00	0.000	292	0.000	0.056	2599	3699	3749	3694	3804	0	0	0	0	0	0	20.45	20.18	20.49
2833	end dive: NO_VERTICAL_VELOCITY
state	2833	begin apogee
2839	-0.21	0.0	2609	2390	3694	3801	322.0	0.0	243	2992	1.42	0.00	149.40	0.627	10246	0.125	0.000	2923	2389	3144	3173	3116	0	0	0	0	0	0	20.09	19.97	19.56
2993	end apogee: CONTROL_FINISHED_OK
state	2993	begin climb
2995	1.19	146.2	2924	2389	3168	3112	322.1	0.0	245	3152	1.92	2.85	146.95	0.608	10756	0.106	0.033	3385	999	2543	2575	2512	0	0	0	0	0	0	19.98	19.85	19.56
3301	1.19	146.2	3385	998	2562	2511	289.3	13.8	307	3307	0.00	2.88	0.00	0.000	1030	0.000	0.030	3385	2401	2535	2561	2510	0	0	0	0	0	0	20.17	20.12	20.20
3652	1.19	146.2	3385	2402	2559	2502	247.7	11.4	322	3654	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	2401	2529	2558	2501	0	0	0	0	0	0	20.39	20.44	20.43
3952	1.19	146.2	3386	2401	2556	2496	217.1	10.3	332	3958	0.00	2.90	0.00	0.000	516	0.000	0.033	3396	999	2526	2555	2497	0	0	0	0	0	0	20.41	20.17	20.45
4017	1.19	146.2	3395	1000	2556	2497	209.7	12.1	345	4023	0.00	2.88	0.00	0.000	1030	0.000	0.030	3395	2402	2525	2554	2497	0	0	0	0	0	0	20.23	20.17	20.25
4343	1.19	146.2	3396	2402	2552	2493	175.4	10.6	360	4349	0.00	2.75	0.00	0.000	260	0.000	0.050	3395	3702	2522	2551	2493	0	0	0	0	0	0	20.42	20.16	20.47
4488	1.19	146.2	3396	3700	2552	2488	158.8	10.1	389	4495	0.00	2.65	0.00	0.000	1030	0.000	0.028	3405	2397	2519	2550	2488	0	0	0	0	0	0	20.25	20.23	20.27
4794	1.21	174.8	3405	2397	2550	2487	134.9	7.9	400	4825	0.00	2.80	26.27	0.502	8484	0.000	0.049	3404	3701	2423	2466	2380	0	0	0	0	0	0	20.43	19.93	19.68
4930	1.21	183.7	3405	3701	2460	2372	123.4	9.0	427	4947	0.00	2.60	8.27	0.467	9254	0.000	0.029	3413	2398	2393	2440	2346	0	0	0	0	0	0	20.25	20.23	19.71
5245	1.23	214.2	3414	2399	2435	2343	97.1	7.8	440	5286	0.00	2.92	33.22	0.468	8740	0.000	0.034	3425	998	2262	2309	2215	0	0	0	0	0	0	20.42	20.05	19.70
5415	1.23	214.2	3424	998	2300	2213	82.0	9.4	474	5420	0.00	2.85	0.00	0.000	1062	0.000	0.030	3422	2399	2256	2299	2214	0	0	0	0	0	0	20.23	20.17	20.25
5726	1.24	227.9	3422	2400	2300	2211	54.4	8.7	486	5746	0.00	2.80	13.82	0.430	8484	0.000	0.049	3412	3696	2207	2260	2155	0	0	0	0	0	0	20.43	20.09	19.76
5890	1.24	227.9	3412	3697	2254	2151	38.2	10.0	519	5903	0.00	2.62	0.00	0.000	1030	0.000	0.028	3420	2403	2201	2253	2149	0	0	0	0	0	0	20.25	20.23	20.26
6199	1.25	234.6	3421	2403	2254	2149	11.0	9.1	550	6210	0.00	2.90	2.50	0.132	8740	0.000	0.034	3431	1008	2189	2244	2134	0	0	0	0	0	0	20.43	20.19	20.06
6240	1.25	234.6	3430	1009	2250	2138	6.9	10.0	558	6245	0.00	2.85	0.00	0.000	1030	0.000	0.034	3426	2397	2193	2250	2136	0	0	0	0	0	0	20.25	20.18	20.26
6299	end climb: SURFACE_DEPTH_REACHED
state	6299	begin surface coast
6319	end surface coast: CONTROL_FINISHED_OK
state	6319	begin surface