Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 191 * 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 191 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 19 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 375 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 4 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 48

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593659.2 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 375

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 -1593659.2

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 19 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DIVE 191 N_FILEKB 4 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 48 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 030814,025505,4750.704,-12513.996,49,1.0,49,18.7 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.00 MHEAD_RNG_PITCHd_Wd 68.4,5233,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -73.8 D_GRID 312

GPS2 030814,030307,4750.671,-12514.040,15,1.1,15,18.7

Post-dive calculations and measurements:

FINISH 1.0,1.015612 _10V_AH 13.8,0.000

SM_CCo 7438,41.97,0.105,0,0,1329,375.06 FG_AHR_24Vo 0.000

SM_GC 1.88,9.15,0.10,41.97,0.078,0.171,0.105,394,2402,1329,-9.10,-0.93,375.06,0,0,0,0,0,0,14.47,14.47,14.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12517.37,030814,000047 MEM 290816

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 20089,634

HUMID 48.26 CAP_FILE_SIZE 118833,0

INTERNAL_PRESSURE 8.9425 CFSIZE 260034560,239292416

TCM_TEMP 18.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,9646.83,0x2378ba,7,5

SC_FREEKB 3876896 CURRENT 0.047, 46.0,1

PM_FREEKB 57164352 GPS 030814,050912,4750.907,-12512.725,8,1.9,8,18.7

_24V_AH 13.6,45.581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 395 124.39 nil 0 0 0.00

Roll_motor 68 170 158.87 nil 0 0 0.00

VBD_pump_during_apogee 283 1070 4131.86 nil 0 0 0.00

VBD_pump_during_surface 41 104 59.83 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 7427 7 761.49

Iridium_during_xfer 252 155 533.92 PMAR 101 5 7.24

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 22 5.14

TT8 1521 10 214.56

LPSleep 4125 2 124.67

TT8_Active 495 10 69.90

TT8_Sampling 1418 28 566.76

TT8_CF8 399 35 196.64

TT8_Kalman 0 0 0.00

Analog_circuits 1428 10 197.13

GPS_charging 0 0 0.00

Compass 995 0 10.31

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -0.59 -116.8 391 2415 1468 1194 0.0 0.0 0 90 0.00 0.00 -57.95 0.000 16386 0.000 0.000 395 2418 2854 2909 2799 0 0 0 0 0 0 28.83 28.83 28.83

95 -0.59 -116.8 398 2417 2911 2800 3.8 -3.6 6 130 12.50 2.55 -8.45 0.000 18948 0.396 0.099 3124 982 3337 3381 3294 0 0 0 0 0 0 14.12 14.35 14.59

360 -0.59 -116.8 3125 983 3384 3297 54.6 -14.1 33 371 0.00 2.42 0.00 0.000 1030 0.000 0.076 3124 2388 3340 3384 3297 0 0 0 0 0 0 28.83 14.42 28.83

611 -0.59 -116.8 3125 2391 3386 3298 88.7 -12.3 58 621 0.00 2.42 0.00 0.000 516 0.000 0.080 3121 982 3341 3386 3297 0 0 0 0 0 0 28.83 14.45 28.83

701 -0.59 -116.8 3125 979 3387 3295 99.4 -11.8 67 712 0.00 2.45 0.00 0.000 1030 0.000 0.076 3125 2411 3343 3387 3299 0 0 0 0 0 0 28.83 14.49 28.83

951 -0.59 -116.8 3125 2411 3387 3298 126.9 -11.0 92 963 0.00 2.42 0.00 0.000 260 0.000 0.095 3125 3809 3341 3386 3297 0 0 0 0 0 0 28.83 14.48 28.83

1123 -0.59 -116.8 3125 3808 3386 3297 146.4 -11.9 109 1133 0.00 2.40 0.00 0.000 1030 0.000 0.070 3125 2389 3341 3386 3297 0 0 0 0 0 0 28.83 14.51 28.83

1373 -0.59 -116.8 3125 2384 3386 3297 175.6 -11.5 134 1383 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2384 3342 3387 3298 0 0 0 0 0 0 28.83 28.83 28.83

1623 -0.59 -116.8 3125 2384 3387 3298 204.6 -11.5 159 1634 0.00 2.50 0.00 0.000 260 0.000 0.095 3124 3814 3339 3386 3293 0 0 0 0 0 0 28.83 14.51 28.83

1674 -0.59 -116.8 3125 3817 3386 3297 210.6 -12.2 164 1685 0.00 2.40 0.00 0.000 1030 0.000 0.070 3124 2402 3347 3391 3303 0 0 0 0 0 0 28.83 14.54 28.83

1925 -0.59 -116.8 3121 2402 3383 3297 237.2 -9.9 189 1936 0.00 2.42 0.00 0.000 516 0.000 0.083 3125 983 3341 3386 3297 0 0 0 0 0 0 28.83 14.52 28.83

1986 -0.59 -116.8 3125 989 3386 3297 243.7 -11.0 195 1996 0.00 2.42 0.00 0.000 1030 0.000 0.075 3125 2398 3341 3386 3297 0 0 0 0 0 0 28.83 14.54 28.83

2236 -0.59 -116.8 3121 2398 3386 3295 268.2 -9.5 208 2246 0.00 2.45 0.00 0.000 260 0.000 0.095 3124 3811 3340 3385 3295 0 0 0 0 0 0 28.83 14.52 28.83

2296 -0.59 -116.8 3124 3811 3386 3296 274.1 -9.8 214 2306 0.00 2.40 0.00 0.000 1030 0.000 0.074 3124 2404 3340 3386 3295 0 0 0 0 0 0 28.83 14.53 28.83

2626 -0.59 -116.8 3124 2402 3386 3294 305.5 -9.6 227 2636 0.00 2.42 0.00 0.000 516 0.000 0.084 3125 984 3340 3386 3294 0 0 0 0 0 0 28.83 14.54 28.83

2692 end dive: TARGET_DEPTH_EXCEEDED

state 2692 begin apogee

2703 -0.25 0.0 3126 2334 3386 3294 312.8 -10.4 234 2800 0.40 0.00 89.43 1.070 10246 0.200 0.000 3240 2335 2855 2933 2778 0 0 0 0 0 0 14.42 28.83 13.76

2802 end apogee: CONTROL_FINISHED_OK

state 2802 begin climb

2806 0.59 116.8 3240 2334 2932 2776 317.9 0.0 237 2907 0.85 0.00 91.68 1.047 10502 0.148 0.000 3512 2335 2378 2521 2236 0 0 0 0 0 0 14.16 28.83 13.59

3207 0.61 116.8 3513 2335 2520 2231 298.0 6.3 253 3216 0.00 0.00 0.00 0.000 6 0.000 0.000 3512 2335 2375 2519 2232 0 0 0 0 0 0 28.83 28.83 28.83

3509 0.63 116.8 3512 2335 2519 2230 278.9 6.1 263 3519 0.00 2.47 0.00 0.000 516 0.000 0.089 3519 916 2374 2518 2230 0 0 0 0 0 0 28.83 14.40 28.83

3609 0.65 116.8 3516 916 2517 2231 272.1 6.7 273 3619 0.00 2.45 0.00 0.000 1030 0.000 0.077 3519 2338 2374 2518 2230 0 0 0 0 0 0 28.83 14.45 28.83

3919 0.65 116.8 3519 2337 2517 2230 248.5 7.7 286 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2337 2371 2513 2229 0 0 0 0 0 0 28.83 28.83 28.83

4169 0.65 116.8 3519 2337 2516 2229 230.5 7.0 311 4179 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2339 2370 2516 2224 0 0 0 0 0 0 28.83 28.83 28.83

4419 0.65 116.8 3519 2337 2516 2228 211.6 7.7 336 4429 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2337 2372 2516 2228 0 0 0 0 0 0 28.83 28.83 28.83

4669 0.65 116.8 3515 2337 2516 2224 191.8 7.7 361 4679 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2337 2371 2515 2228 0 0 0 0 0 0 28.83 28.83 28.83

4920 0.67 116.8 3519 2337 2514 2227 174.5 6.4 386 4930 0.00 2.45 0.00 0.000 260 0.000 0.096 3519 3741 2370 2514 2227 0 0 0 0 0 0 28.83 14.52 28.83

4980 0.67 116.8 3519 3741 2513 2227 169.6 8.1 392 4992 0.00 2.42 0.00 0.000 1030 0.000 0.075 3525 2320 2370 2513 2227 0 0 0 0 0 0 28.83 14.53 28.83

5232 0.69 116.8 3520 2319 2512 2227 152.8 5.9 417 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2319 2368 2510 2227 0 0 0 0 0 0 28.83 28.83 28.83

5482 0.73 165.8 3520 2320 2512 2227 138.7 5.3 442 5533 0.12 2.58 36.95 0.875 10500 0.150 0.095 3576 3737 2181 2339 2023 0 0 0 0 0 0 14.55 14.40 14.03

5613 0.73 165.8 3573 3737 2336 2023 126.4 11.3 455 5624 0.00 2.42 0.00 0.000 1030 0.000 0.077 3583 2339 2180 2337 2023 0 0 0 0 0 0 28.83 14.40 28.83

5864 0.73 165.8 3584 2334 2336 2022 101.2 9.4 480 5876 0.10 2.47 0.00 0.000 4356 0.282 0.091 3564 3741 2179 2338 2021 0 0 0 0 0 0 14.37 14.46 28.83

6016 0.73 165.8 3564 3741 2336 2021 86.7 8.7 495 6026 0.00 2.45 0.00 0.000 1030 0.000 0.077 3564 2319 2179 2336 2022 0 0 0 0 0 0 28.83 14.48 28.83

6266 0.73 165.8 3564 2317 2335 2021 68.0 7.1 520 6278 0.00 2.42 0.00 0.000 516 0.000 0.088 3572 909 2177 2335 2020 0 0 0 0 0 0 28.83 14.48 28.83

6408 0.75 165.8 3572 910 2334 2020 58.9 6.4 534 6419 0.00 2.45 0.00 0.000 1030 0.000 0.075 3572 2343 2177 2335 2020 0 0 0 0 0 0 28.83 14.51 28.83

6659 0.76 165.8 3575 2348 2335 2020 43.4 6.7 559 6670 0.00 2.42 0.00 0.000 260 0.000 0.093 3572 3733 2177 2334 2020 0 0 0 0 0 0 28.83 14.50 28.83

6900 0.80 221.8 3572 3733 2329 2020 25.7 5.0 583 6950 0.00 2.42 40.35 0.735 9222 0.000 0.075 3575 2316 1951 2105 1798 0 0 0 0 0 0 28.83 14.54 14.07

7194 0.84 278.9 3575 2316 2099 1798 12.9 4.9 612 7231 0.00 2.42 25.48 0.142 8708 0.000 0.086 3578 927 1723 1884 1563 0 0 0 0 0 0 28.83 14.42 14.38

7273 0.88 278.9 3575 927 1884 1568 8.7 5.4 620 7285 0.00 2.42 0.00 0.000 1030 0.000 0.076 3575 2335 1726 1884 1568 0 0 0 0 0 0 28.83 14.45 28.83

7351 end climb: SURFACE_DEPTH_REACHED

state 7351 begin surface coast

7413 end surface coast: CONTROL_FINISHED_OK

state 7413 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	191	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	19	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	375	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	4	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	48
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593659.2	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	030814,025505,4750.704,-12513.996,49,1.0,49,18.7	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.00	MHEAD_RNG_PITCHd_Wd	68.4,5233,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-73.8	D_GRID	312
GPS2	030814,030307,4750.671,-12514.040,15,1.1,15,18.7

FINISH	1.0,1.015612	_10V_AH	13.8,0.000
SM_CCo	7438,41.97,0.105,0,0,1329,375.06	FG_AHR_24Vo	0.000
SM_GC	1.88,9.15,0.10,41.97,0.078,0.171,0.105,394,2402,1329,-9.10,-0.93,375.06,0,0,0,0,0,0,14.47,14.47,14.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12517.37,030814,000047	MEM	290816
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	20089,634
HUMID	48.26	CAP_FILE_SIZE	118833,0
INTERNAL_PRESSURE	8.9425	CFSIZE	260034560,239292416
TCM_TEMP	18.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,9646.83,0x2378ba,7,5
SC_FREEKB	3876896	CURRENT	0.047, 46.0,1
PM_FREEKB	57164352	GPS	030814,050912,4750.907,-12512.725,8,1.9,8,18.7
_24V_AH	13.6,45.581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	395	124.39	nil	0	0	0.00
Roll_motor	68	170	158.87	nil	0	0	0.00
VBD_pump_during_apogee	283	1070	4131.86	nil	0	0	0.00
VBD_pump_during_surface	41	104	59.83	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	7427	7	761.49
Iridium_during_xfer	252	155	533.92	PMAR	101	5	7.24
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	22	5.14
TT8	1521	10	214.56
LPSleep	4125	2	124.67
TT8_Active	495	10	69.90
TT8_Sampling	1418	28	566.76
TT8_CF8	399	35	196.64
TT8_Kalman	0	0	0.00
Analog_circuits	1428	10	197.13
GPS_charging	0	0	0.00
Compass	995	0	10.31
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-0.59	-116.8	391	2415	1468	1194	0.0	0.0	0	90	0.00	0.00	-57.95	0.000	16386	0.000	0.000	395	2418	2854	2909	2799	0	0	0	0	0	0	28.83	28.83	28.83
95	-0.59	-116.8	398	2417	2911	2800	3.8	-3.6	6	130	12.50	2.55	-8.45	0.000	18948	0.396	0.099	3124	982	3337	3381	3294	0	0	0	0	0	0	14.12	14.35	14.59
360	-0.59	-116.8	3125	983	3384	3297	54.6	-14.1	33	371	0.00	2.42	0.00	0.000	1030	0.000	0.076	3124	2388	3340	3384	3297	0	0	0	0	0	0	28.83	14.42	28.83
611	-0.59	-116.8	3125	2391	3386	3298	88.7	-12.3	58	621	0.00	2.42	0.00	0.000	516	0.000	0.080	3121	982	3341	3386	3297	0	0	0	0	0	0	28.83	14.45	28.83
701	-0.59	-116.8	3125	979	3387	3295	99.4	-11.8	67	712	0.00	2.45	0.00	0.000	1030	0.000	0.076	3125	2411	3343	3387	3299	0	0	0	0	0	0	28.83	14.49	28.83
951	-0.59	-116.8	3125	2411	3387	3298	126.9	-11.0	92	963	0.00	2.42	0.00	0.000	260	0.000	0.095	3125	3809	3341	3386	3297	0	0	0	0	0	0	28.83	14.48	28.83
1123	-0.59	-116.8	3125	3808	3386	3297	146.4	-11.9	109	1133	0.00	2.40	0.00	0.000	1030	0.000	0.070	3125	2389	3341	3386	3297	0	0	0	0	0	0	28.83	14.51	28.83
1373	-0.59	-116.8	3125	2384	3386	3297	175.6	-11.5	134	1383	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2384	3342	3387	3298	0	0	0	0	0	0	28.83	28.83	28.83
1623	-0.59	-116.8	3125	2384	3387	3298	204.6	-11.5	159	1634	0.00	2.50	0.00	0.000	260	0.000	0.095	3124	3814	3339	3386	3293	0	0	0	0	0	0	28.83	14.51	28.83
1674	-0.59	-116.8	3125	3817	3386	3297	210.6	-12.2	164	1685	0.00	2.40	0.00	0.000	1030	0.000	0.070	3124	2402	3347	3391	3303	0	0	0	0	0	0	28.83	14.54	28.83
1925	-0.59	-116.8	3121	2402	3383	3297	237.2	-9.9	189	1936	0.00	2.42	0.00	0.000	516	0.000	0.083	3125	983	3341	3386	3297	0	0	0	0	0	0	28.83	14.52	28.83
1986	-0.59	-116.8	3125	989	3386	3297	243.7	-11.0	195	1996	0.00	2.42	0.00	0.000	1030	0.000	0.075	3125	2398	3341	3386	3297	0	0	0	0	0	0	28.83	14.54	28.83
2236	-0.59	-116.8	3121	2398	3386	3295	268.2	-9.5	208	2246	0.00	2.45	0.00	0.000	260	0.000	0.095	3124	3811	3340	3385	3295	0	0	0	0	0	0	28.83	14.52	28.83
2296	-0.59	-116.8	3124	3811	3386	3296	274.1	-9.8	214	2306	0.00	2.40	0.00	0.000	1030	0.000	0.074	3124	2404	3340	3386	3295	0	0	0	0	0	0	28.83	14.53	28.83
2626	-0.59	-116.8	3124	2402	3386	3294	305.5	-9.6	227	2636	0.00	2.42	0.00	0.000	516	0.000	0.084	3125	984	3340	3386	3294	0	0	0	0	0	0	28.83	14.54	28.83
2692	end dive: TARGET_DEPTH_EXCEEDED
state	2692	begin apogee
2703	-0.25	0.0	3126	2334	3386	3294	312.8	-10.4	234	2800	0.40	0.00	89.43	1.070	10246	0.200	0.000	3240	2335	2855	2933	2778	0	0	0	0	0	0	14.42	28.83	13.76
2802	end apogee: CONTROL_FINISHED_OK
state	2802	begin climb
2806	0.59	116.8	3240	2334	2932	2776	317.9	0.0	237	2907	0.85	0.00	91.68	1.047	10502	0.148	0.000	3512	2335	2378	2521	2236	0	0	0	0	0	0	14.16	28.83	13.59
3207	0.61	116.8	3513	2335	2520	2231	298.0	6.3	253	3216	0.00	0.00	0.00	0.000	6	0.000	0.000	3512	2335	2375	2519	2232	0	0	0	0	0	0	28.83	28.83	28.83
3509	0.63	116.8	3512	2335	2519	2230	278.9	6.1	263	3519	0.00	2.47	0.00	0.000	516	0.000	0.089	3519	916	2374	2518	2230	0	0	0	0	0	0	28.83	14.40	28.83
3609	0.65	116.8	3516	916	2517	2231	272.1	6.7	273	3619	0.00	2.45	0.00	0.000	1030	0.000	0.077	3519	2338	2374	2518	2230	0	0	0	0	0	0	28.83	14.45	28.83
3919	0.65	116.8	3519	2337	2517	2230	248.5	7.7	286	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2337	2371	2513	2229	0	0	0	0	0	0	28.83	28.83	28.83
4169	0.65	116.8	3519	2337	2516	2229	230.5	7.0	311	4179	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2339	2370	2516	2224	0	0	0	0	0	0	28.83	28.83	28.83
4419	0.65	116.8	3519	2337	2516	2228	211.6	7.7	336	4429	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2337	2372	2516	2228	0	0	0	0	0	0	28.83	28.83	28.83
4669	0.65	116.8	3515	2337	2516	2224	191.8	7.7	361	4679	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2337	2371	2515	2228	0	0	0	0	0	0	28.83	28.83	28.83
4920	0.67	116.8	3519	2337	2514	2227	174.5	6.4	386	4930	0.00	2.45	0.00	0.000	260	0.000	0.096	3519	3741	2370	2514	2227	0	0	0	0	0	0	28.83	14.52	28.83
4980	0.67	116.8	3519	3741	2513	2227	169.6	8.1	392	4992	0.00	2.42	0.00	0.000	1030	0.000	0.075	3525	2320	2370	2513	2227	0	0	0	0	0	0	28.83	14.53	28.83
5232	0.69	116.8	3520	2319	2512	2227	152.8	5.9	417	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2319	2368	2510	2227	0	0	0	0	0	0	28.83	28.83	28.83
5482	0.73	165.8	3520	2320	2512	2227	138.7	5.3	442	5533	0.12	2.58	36.95	0.875	10500	0.150	0.095	3576	3737	2181	2339	2023	0	0	0	0	0	0	14.55	14.40	14.03
5613	0.73	165.8	3573	3737	2336	2023	126.4	11.3	455	5624	0.00	2.42	0.00	0.000	1030	0.000	0.077	3583	2339	2180	2337	2023	0	0	0	0	0	0	28.83	14.40	28.83
5864	0.73	165.8	3584	2334	2336	2022	101.2	9.4	480	5876	0.10	2.47	0.00	0.000	4356	0.282	0.091	3564	3741	2179	2338	2021	0	0	0	0	0	0	14.37	14.46	28.83
6016	0.73	165.8	3564	3741	2336	2021	86.7	8.7	495	6026	0.00	2.45	0.00	0.000	1030	0.000	0.077	3564	2319	2179	2336	2022	0	0	0	0	0	0	28.83	14.48	28.83
6266	0.73	165.8	3564	2317	2335	2021	68.0	7.1	520	6278	0.00	2.42	0.00	0.000	516	0.000	0.088	3572	909	2177	2335	2020	0	0	0	0	0	0	28.83	14.48	28.83
6408	0.75	165.8	3572	910	2334	2020	58.9	6.4	534	6419	0.00	2.45	0.00	0.000	1030	0.000	0.075	3572	2343	2177	2335	2020	0	0	0	0	0	0	28.83	14.51	28.83
6659	0.76	165.8	3575	2348	2335	2020	43.4	6.7	559	6670	0.00	2.42	0.00	0.000	260	0.000	0.093	3572	3733	2177	2334	2020	0	0	0	0	0	0	28.83	14.50	28.83
6900	0.80	221.8	3572	3733	2329	2020	25.7	5.0	583	6950	0.00	2.42	40.35	0.735	9222	0.000	0.075	3575	2316	1951	2105	1798	0	0	0	0	0	0	28.83	14.54	14.07
7194	0.84	278.9	3575	2316	2099	1798	12.9	4.9	612	7231	0.00	2.42	25.48	0.142	8708	0.000	0.086	3578	927	1723	1884	1563	0	0	0	0	0	0	28.83	14.42	14.38
7273	0.88	278.9	3575	927	1884	1568	8.7	5.4	620	7285	0.00	2.42	0.00	0.000	1030	0.000	0.076	3575	2335	1726	1884	1568	0	0	0	0	0	0	28.83	14.45	28.83
7351	end climb: SURFACE_DEPTH_REACHED
state	7351	begin surface coast
7413	end surface coast: CONTROL_FINISHED_OK
state	7413	begin surface