Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 256 * 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 256 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 24 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 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 -1593743.6 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 -1593743.6

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 24 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DIVE 256 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 200814,155336,4750.648,-12515.061,28,1.9,29,18.7 SPEED_LIMITS 0.127,0.215

_CALLS 2 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.05 MHEAD_RNG_PITCHd_Wd 92.0,6262,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -72.0 D_GRID 343

GPS2 200814,160515,4750.617,-12514.914,13,4.1,33,18.7

Post-dive calculations and measurements:

FINISH 1.0,1.007023 _10V_AH 13.7,0.000

SM_CCo 8546,1.20,0.102,0,0,1329,375.06 FG_AHR_24Vo 0.000

SM_GC 3.30,9.35,0.10,1.20,0.074,0.200,0.102,399,2402,1329,-9.10,-0.74,375.06,1,0,0,0,0,0,14.34,14.35,14.36 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12513.98,200814,151509 MEM 290864

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23464,698

HUMID 49.25 CAP_FILE_SIZE 123282,0

INTERNAL_PRESSURE 8.95227 CFSIZE 260034560,232443904

TCM_TEMP 18.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0

XPDR_PINGS 0 INTR 0,11930.96,0x2378ba,7,5

SC_FREEKB 3856096 CURRENT 0.154, 1.4,1

PM_FREEKB 55190976 GPS 200814,183106,4750.892,-12514.052,126,1.0,127,18.7

_24V_AH 13.5,62.161

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 381 120.07 nil 0 0 0.00

Roll_motor 59 212 170.68 nil 0 0 0.00

VBD_pump_during_apogee 327 1116 4936.60 nil 0 0 0.00

VBD_pump_during_surface 1 101 1.65 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 8535 7 854.37

Iridium_during_xfer 400 143 777.60 PMAR 3365 4 186.12

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 22 10.49

TT8 1672 10 234.22

LPSleep 5013 2 150.42

TT8_Active 492 10 68.94

TT8_Sampling 1640 28 650.46

TT8_CF8 418 35 204.48

TT8_Kalman 0 0 0.00

Analog_circuits 1587 10 217.46

GPS_charging 0 0 0.00

Compass 1088 0 11.18

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

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -0.59 -116.8 392 2402 1354 1044 0.0 0.0 0 92 0.00 0.00 -59.72 0.000 16386 0.000 0.000 394 2403 2773 2833 2713 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.59 -116.8 396 2402 2841 2714 3.7 -3.3 6 132 12.43 2.50 -10.38 0.000 18692 0.382 0.116 3125 3816 3336 3385 3287 0 0 0 0 0 0 14.01 14.28 14.54

361 -0.59 -116.8 3125 3815 3386 3292 49.2 -12.9 33 371 0.00 2.47 0.00 0.000 1030 0.000 0.065 3125 2385 3337 3382 3292 0 0 0 0 0 0 28.83 14.34 28.83

612 -0.59 -116.8 3125 2382 3387 3293 80.3 -11.1 58 621 0.00 2.53 0.00 0.000 260 0.000 0.090 3125 3821 3342 3387 3298 0 0 0 0 0 0 28.83 14.31 28.83

853 -0.59 -116.8 3125 3821 3387 3293 110.4 -12.6 82 862 0.00 2.42 0.00 0.000 1030 0.000 0.065 3125 2392 3340 3387 3293 0 0 0 0 0 0 28.83 14.40 28.83

1102 -0.59 -116.8 3125 2387 3387 3293 138.0 -10.3 107 1111 0.00 2.50 0.00 0.000 260 0.000 0.092 3125 3814 3340 3387 3293 0 0 0 0 0 0 28.83 14.33 28.83

1342 -0.59 -116.8 3125 3814 3387 3298 163.4 -10.4 131 1351 0.00 2.42 0.00 0.000 1030 0.000 0.067 3125 2397 3340 3387 3293 0 0 0 0 0 0 28.83 14.38 28.83

1592 -0.59 -116.8 3125 2394 3387 3293 188.6 -9.7 156 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2396 3340 3387 3293 0 0 0 0 0 0 28.83 28.83 28.83

1841 -0.59 -116.8 3125 2394 3387 3288 214.3 -10.0 181 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2394 3339 3387 3292 0 0 0 0 0 0 28.83 28.83 28.83

2092 -0.59 -116.8 3127 2394 3387 3291 239.7 -10.0 206 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2394 3340 3389 3292 0 0 0 0 0 0 28.83 28.83 28.83

2355 -0.59 -116.8 3125 2391 3387 3290 265.1 -9.7 222 2363 0.00 2.50 0.00 0.000 260 0.000 0.094 3125 3814 3342 3390 3294 0 0 0 0 0 0 28.83 14.39 28.83

2412 -0.59 -116.8 3125 3814 3386 3290 271.0 -9.4 228 2420 0.00 2.42 0.00 0.000 1030 0.000 0.067 3125 2396 3338 3387 3290 0 0 0 0 0 0 28.83 14.43 28.83

2746 -0.59 -116.8 3125 2394 3387 3289 299.3 -8.3 241 2749 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2394 3337 3387 3288 0 0 0 0 0 0 28.83 28.83 28.83

3042 -0.59 -116.8 3126 2394 3387 3285 326.9 -9.3 251 3050 0.00 2.53 0.00 0.000 260 0.000 0.095 3126 3821 3337 3387 3287 0 0 0 0 0 0 28.83 14.40 28.83

3102 -0.59 -116.8 3129 3821 3387 3285 332.7 -9.7 257 3111 0.00 2.45 0.00 0.000 1030 0.000 0.068 3125 2388 3337 3387 3287 0 0 0 0 0 0 28.83 14.44 28.83

3219 end dive: TARGET_DEPTH_EXCEEDED

state 3219 begin apogee

3228 -0.25 0.0 3125 2315 3387 3286 343.7 -9.3 263 3323 0.40 0.00 90.70 1.116 10246 0.197 0.000 3240 2319 2856 2933 2780 0 0 0 0 0 0 14.28 28.83 13.66

3327 end apogee: CONTROL_FINISHED_OK

state 3327 begin climb

3331 0.59 116.8 3240 2314 2933 2776 348.2 0.0 266 3434 0.85 0.00 93.60 1.090 10246 0.142 0.000 3510 2311 2378 2521 2235 0 0 0 0 0 0 14.09 28.83 13.50

3732 0.59 116.8 3510 2315 2521 2232 325.6 7.0 280 3742 0.00 2.55 0.00 0.000 260 0.000 0.090 3510 3752 2376 2521 2232 0 0 0 0 0 0 28.83 14.23 28.83

3822 0.59 116.8 3510 3755 2519 2232 318.2 8.7 289 3833 0.00 2.45 0.00 0.000 1030 0.000 0.070 3519 2337 2375 2519 2232 0 0 0 0 0 0 28.83 14.31 28.83

4153 0.59 116.8 3519 2341 2519 2234 292.5 7.6 302 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2340 2374 2518 2230 0 0 0 0 0 0 28.83 28.83 28.83

4452 0.59 116.8 3519 2341 2518 2229 269.8 7.2 312 4462 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2341 2373 2518 2229 0 0 0 0 0 0 28.83 28.83 28.83

4756 0.59 116.8 3519 2341 2517 2228 247.6 7.7 324 4766 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2340 2371 2518 2225 0 0 0 0 0 0 28.83 28.83 28.83

5006 0.59 116.8 3519 2340 2517 2228 228.2 7.6 349 5017 0.00 0.00 0.00 0.000 6 0.000 0.000 3518 2342 2372 2517 2228 0 0 0 0 0 0 28.83 28.83 28.83

5257 0.59 116.8 3519 2341 2516 2227 210.1 7.2 374 5268 0.00 2.47 0.00 0.000 516 0.000 0.086 3519 916 2370 2512 2228 0 0 0 0 0 0 28.83 14.40 28.83

5318 0.60 116.8 3519 916 2517 2227 205.9 6.8 380 5328 0.00 2.45 0.00 0.000 1030 0.000 0.073 3520 2343 2371 2516 2227 0 0 0 0 0 0 28.83 14.44 28.83

5568 0.62 116.8 3521 2343 2511 2227 190.0 6.2 405 5580 0.00 2.45 0.00 0.000 260 0.000 0.091 3522 3746 2371 2515 2227 0 0 0 0 0 0 28.83 14.42 28.83

5649 0.62 116.8 3519 3746 2510 2227 184.0 7.4 413 5661 0.00 2.42 0.00 0.000 1030 0.000 0.072 3520 2332 2370 2514 2227 0 0 0 0 0 0 28.83 14.40 28.83

5902 0.65 116.8 3519 2333 2514 2226 168.0 6.2 438 5913 0.00 2.45 0.00 0.000 516 0.000 0.086 3522 920 2371 2513 2229 0 0 0 0 0 0 28.83 14.40 28.83

6053 0.68 116.8 3522 920 2513 2227 159.0 5.8 453 6064 0.00 2.42 0.00 0.000 1030 0.000 0.074 3522 2329 2370 2513 2227 0 0 0 0 0 0 28.83 14.44 28.83

6305 0.71 116.8 3522 2328 2513 2227 144.6 5.6 478 6315 0.10 0.00 0.00 0.000 2054 0.168 0.000 3564 2329 2370 2513 2227 0 0 0 0 0 0 14.47 28.83 28.83

6555 0.71 116.8 3565 2328 2513 2227 125.9 7.3 503 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 3565 2329 2370 2514 2227 0 0 0 0 0 0 28.83 28.83 28.83

6806 0.71 116.8 3565 2328 2516 2233 107.2 8.3 528 6816 0.00 0.00 0.00 0.000 6 0.000 0.000 3566 2328 2369 2513 2226 0 0 0 0 0 0 28.83 28.83 28.83

7057 0.74 116.8 3565 2328 2513 2226 89.6 5.9 553 7069 0.00 2.47 0.00 0.000 260 0.000 0.090 3564 3746 2369 2512 2226 0 0 0 0 0 0 28.83 14.41 28.83

7269 0.75 116.8 3565 3746 2511 2226 75.0 6.7 574 7280 0.00 2.42 0.00 0.000 1030 0.000 0.068 3575 2322 2368 2511 2226 0 0 0 0 0 0 28.83 14.45 28.83

7520 0.82 211.4 3575 2325 2511 2226 64.6 3.4 599 7601 0.00 2.53 70.90 0.776 8708 0.000 0.086 3575 926 1993 2147 1840 0 0 0 0 0 0 28.83 14.28 13.93

7834 0.82 211.4 3576 925 2146 1840 39.1 9.1 630 7845 0.00 2.45 0.00 0.000 1030 0.000 0.075 3576 2335 1995 2146 1845 0 0 0 0 0 0 28.83 14.32 28.83

8085 0.84 211.4 3574 2335 2146 1840 19.8 6.2 655 8095 0.00 2.50 0.00 0.000 516 0.000 0.085 3580 920 1993 2147 1840 0 0 0 0 0 0 28.83 14.30 28.83

8325 0.95 372.8 3576 920 2146 1840 9.5 0.5 679 8408 0.17 2.45 72.43 0.130 11270 0.124 0.074 3644 2344 1339 1490 1188 0 0 0 0 0 0 14.40 14.39 14.29

8468 end climb: SURFACE_DEPTH_REACHED

state 8468 begin surface coast

8520 end surface coast: CONTROL_FINISHED_OK

state 8520 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	256	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	24	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	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	-1593743.6	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	200814,155336,4750.648,-12515.061,28,1.9,29,18.7	SPEED_LIMITS	0.127,0.215
_CALLS	2	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.05	MHEAD_RNG_PITCHd_Wd	92.0,6262,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-72.0	D_GRID	343
GPS2	200814,160515,4750.617,-12514.914,13,4.1,33,18.7

FINISH	1.0,1.007023	_10V_AH	13.7,0.000
SM_CCo	8546,1.20,0.102,0,0,1329,375.06	FG_AHR_24Vo	0.000
SM_GC	3.30,9.35,0.10,1.20,0.074,0.200,0.102,399,2402,1329,-9.10,-0.74,375.06,1,0,0,0,0,0,14.34,14.35,14.36	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12513.98,200814,151509	MEM	290864
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23464,698
HUMID	49.25	CAP_FILE_SIZE	123282,0
INTERNAL_PRESSURE	8.95227	CFSIZE	260034560,232443904
TCM_TEMP	18.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
XPDR_PINGS	0	INTR	0,11930.96,0x2378ba,7,5
SC_FREEKB	3856096	CURRENT	0.154, 1.4,1
PM_FREEKB	55190976	GPS	200814,183106,4750.892,-12514.052,126,1.0,127,18.7
_24V_AH	13.5,62.161

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	381	120.07	nil	0	0	0.00
Roll_motor	59	212	170.68	nil	0	0	0.00
VBD_pump_during_apogee	327	1116	4936.60	nil	0	0	0.00
VBD_pump_during_surface	1	101	1.65	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	8535	7	854.37
Iridium_during_xfer	400	143	777.60	PMAR	3365	4	186.12
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	22	10.49
TT8	1672	10	234.22
LPSleep	5013	2	150.42
TT8_Active	492	10	68.94
TT8_Sampling	1640	28	650.46
TT8_CF8	418	35	204.48
TT8_Kalman	0	0	0.00
Analog_circuits	1587	10	217.46
GPS_charging	0	0	0.00
Compass	1088	0	11.18
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
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-0.59	-116.8	392	2402	1354	1044	0.0	0.0	0	92	0.00	0.00	-59.72	0.000	16386	0.000	0.000	394	2403	2773	2833	2713	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.59	-116.8	396	2402	2841	2714	3.7	-3.3	6	132	12.43	2.50	-10.38	0.000	18692	0.382	0.116	3125	3816	3336	3385	3287	0	0	0	0	0	0	14.01	14.28	14.54
361	-0.59	-116.8	3125	3815	3386	3292	49.2	-12.9	33	371	0.00	2.47	0.00	0.000	1030	0.000	0.065	3125	2385	3337	3382	3292	0	0	0	0	0	0	28.83	14.34	28.83
612	-0.59	-116.8	3125	2382	3387	3293	80.3	-11.1	58	621	0.00	2.53	0.00	0.000	260	0.000	0.090	3125	3821	3342	3387	3298	0	0	0	0	0	0	28.83	14.31	28.83
853	-0.59	-116.8	3125	3821	3387	3293	110.4	-12.6	82	862	0.00	2.42	0.00	0.000	1030	0.000	0.065	3125	2392	3340	3387	3293	0	0	0	0	0	0	28.83	14.40	28.83
1102	-0.59	-116.8	3125	2387	3387	3293	138.0	-10.3	107	1111	0.00	2.50	0.00	0.000	260	0.000	0.092	3125	3814	3340	3387	3293	0	0	0	0	0	0	28.83	14.33	28.83
1342	-0.59	-116.8	3125	3814	3387	3298	163.4	-10.4	131	1351	0.00	2.42	0.00	0.000	1030	0.000	0.067	3125	2397	3340	3387	3293	0	0	0	0	0	0	28.83	14.38	28.83
1592	-0.59	-116.8	3125	2394	3387	3293	188.6	-9.7	156	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2396	3340	3387	3293	0	0	0	0	0	0	28.83	28.83	28.83
1841	-0.59	-116.8	3125	2394	3387	3288	214.3	-10.0	181	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2394	3339	3387	3292	0	0	0	0	0	0	28.83	28.83	28.83
2092	-0.59	-116.8	3127	2394	3387	3291	239.7	-10.0	206	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2394	3340	3389	3292	0	0	0	0	0	0	28.83	28.83	28.83
2355	-0.59	-116.8	3125	2391	3387	3290	265.1	-9.7	222	2363	0.00	2.50	0.00	0.000	260	0.000	0.094	3125	3814	3342	3390	3294	0	0	0	0	0	0	28.83	14.39	28.83
2412	-0.59	-116.8	3125	3814	3386	3290	271.0	-9.4	228	2420	0.00	2.42	0.00	0.000	1030	0.000	0.067	3125	2396	3338	3387	3290	0	0	0	0	0	0	28.83	14.43	28.83
2746	-0.59	-116.8	3125	2394	3387	3289	299.3	-8.3	241	2749	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2394	3337	3387	3288	0	0	0	0	0	0	28.83	28.83	28.83
3042	-0.59	-116.8	3126	2394	3387	3285	326.9	-9.3	251	3050	0.00	2.53	0.00	0.000	260	0.000	0.095	3126	3821	3337	3387	3287	0	0	0	0	0	0	28.83	14.40	28.83
3102	-0.59	-116.8	3129	3821	3387	3285	332.7	-9.7	257	3111	0.00	2.45	0.00	0.000	1030	0.000	0.068	3125	2388	3337	3387	3287	0	0	0	0	0	0	28.83	14.44	28.83
3219	end dive: TARGET_DEPTH_EXCEEDED
state	3219	begin apogee
3228	-0.25	0.0	3125	2315	3387	3286	343.7	-9.3	263	3323	0.40	0.00	90.70	1.116	10246	0.197	0.000	3240	2319	2856	2933	2780	0	0	0	0	0	0	14.28	28.83	13.66
3327	end apogee: CONTROL_FINISHED_OK
state	3327	begin climb
3331	0.59	116.8	3240	2314	2933	2776	348.2	0.0	266	3434	0.85	0.00	93.60	1.090	10246	0.142	0.000	3510	2311	2378	2521	2235	0	0	0	0	0	0	14.09	28.83	13.50
3732	0.59	116.8	3510	2315	2521	2232	325.6	7.0	280	3742	0.00	2.55	0.00	0.000	260	0.000	0.090	3510	3752	2376	2521	2232	0	0	0	0	0	0	28.83	14.23	28.83
3822	0.59	116.8	3510	3755	2519	2232	318.2	8.7	289	3833	0.00	2.45	0.00	0.000	1030	0.000	0.070	3519	2337	2375	2519	2232	0	0	0	0	0	0	28.83	14.31	28.83
4153	0.59	116.8	3519	2341	2519	2234	292.5	7.6	302	4162	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2340	2374	2518	2230	0	0	0	0	0	0	28.83	28.83	28.83
4452	0.59	116.8	3519	2341	2518	2229	269.8	7.2	312	4462	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2341	2373	2518	2229	0	0	0	0	0	0	28.83	28.83	28.83
4756	0.59	116.8	3519	2341	2517	2228	247.6	7.7	324	4766	0.00	0.00	0.00	0.000	6	0.000	0.000	3519	2340	2371	2518	2225	0	0	0	0	0	0	28.83	28.83	28.83
5006	0.59	116.8	3519	2340	2517	2228	228.2	7.6	349	5017	0.00	0.00	0.00	0.000	6	0.000	0.000	3518	2342	2372	2517	2228	0	0	0	0	0	0	28.83	28.83	28.83
5257	0.59	116.8	3519	2341	2516	2227	210.1	7.2	374	5268	0.00	2.47	0.00	0.000	516	0.000	0.086	3519	916	2370	2512	2228	0	0	0	0	0	0	28.83	14.40	28.83
5318	0.60	116.8	3519	916	2517	2227	205.9	6.8	380	5328	0.00	2.45	0.00	0.000	1030	0.000	0.073	3520	2343	2371	2516	2227	0	0	0	0	0	0	28.83	14.44	28.83
5568	0.62	116.8	3521	2343	2511	2227	190.0	6.2	405	5580	0.00	2.45	0.00	0.000	260	0.000	0.091	3522	3746	2371	2515	2227	0	0	0	0	0	0	28.83	14.42	28.83
5649	0.62	116.8	3519	3746	2510	2227	184.0	7.4	413	5661	0.00	2.42	0.00	0.000	1030	0.000	0.072	3520	2332	2370	2514	2227	0	0	0	0	0	0	28.83	14.40	28.83
5902	0.65	116.8	3519	2333	2514	2226	168.0	6.2	438	5913	0.00	2.45	0.00	0.000	516	0.000	0.086	3522	920	2371	2513	2229	0	0	0	0	0	0	28.83	14.40	28.83
6053	0.68	116.8	3522	920	2513	2227	159.0	5.8	453	6064	0.00	2.42	0.00	0.000	1030	0.000	0.074	3522	2329	2370	2513	2227	0	0	0	0	0	0	28.83	14.44	28.83
6305	0.71	116.8	3522	2328	2513	2227	144.6	5.6	478	6315	0.10	0.00	0.00	0.000	2054	0.168	0.000	3564	2329	2370	2513	2227	0	0	0	0	0	0	14.47	28.83	28.83
6555	0.71	116.8	3565	2328	2513	2227	125.9	7.3	503	6565	0.00	0.00	0.00	0.000	6	0.000	0.000	3565	2329	2370	2514	2227	0	0	0	0	0	0	28.83	28.83	28.83
6806	0.71	116.8	3565	2328	2516	2233	107.2	8.3	528	6816	0.00	0.00	0.00	0.000	6	0.000	0.000	3566	2328	2369	2513	2226	0	0	0	0	0	0	28.83	28.83	28.83
7057	0.74	116.8	3565	2328	2513	2226	89.6	5.9	553	7069	0.00	2.47	0.00	0.000	260	0.000	0.090	3564	3746	2369	2512	2226	0	0	0	0	0	0	28.83	14.41	28.83
7269	0.75	116.8	3565	3746	2511	2226	75.0	6.7	574	7280	0.00	2.42	0.00	0.000	1030	0.000	0.068	3575	2322	2368	2511	2226	0	0	0	0	0	0	28.83	14.45	28.83
7520	0.82	211.4	3575	2325	2511	2226	64.6	3.4	599	7601	0.00	2.53	70.90	0.776	8708	0.000	0.086	3575	926	1993	2147	1840	0	0	0	0	0	0	28.83	14.28	13.93
7834	0.82	211.4	3576	925	2146	1840	39.1	9.1	630	7845	0.00	2.45	0.00	0.000	1030	0.000	0.075	3576	2335	1995	2146	1845	0	0	0	0	0	0	28.83	14.32	28.83
8085	0.84	211.4	3574	2335	2146	1840	19.8	6.2	655	8095	0.00	2.50	0.00	0.000	516	0.000	0.085	3580	920	1993	2147	1840	0	0	0	0	0	0	28.83	14.30	28.83
8325	0.95	372.8	3576	920	2146	1840	9.5	0.5	679	8408	0.17	2.45	72.43	0.130	11270	0.124	0.074	3644	2344	1339	1490	1188	0	0	0	0	0	0	14.40	14.39	14.29
8468	end climb: SURFACE_DEPTH_REACHED
state	8468	begin surface coast
8520	end surface coast: CONTROL_FINISHED_OK
state	8520	begin surface