Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 418 * 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 418 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 27 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 28 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 -1593967.9 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 -1593967.9

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 27 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DIVE 418 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 300914,180536,4753.170,-12516.753,66,1.6,67,18.8 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 2.35 MHEAD_RNG_PITCHd_Wd 108.7,8496,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -73.8 D_GRID 293

GPS2 300914,181337,4753.175,-12516.851,11,1.7,11,18.8

Post-dive calculations and measurements:

FINISH 1.2,1.023632 _10V_AH 13.0,0.000

SM_CCo 7295,26.98,0.097,0,0,1329,375.06 FG_AHR_24Vo 0.000

SM_GC 1.97,9.05,2.65,26.98,0.057,0.071,0.097,389,2399,1329,-9.11,-0.71,375.06,0,0,0,0,0,0,14.29,14.30,14.27 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12522.93,300914,151534 MEM 290840

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23391,648

HUMID 51.18 CAP_FILE_SIZE 118140,0

INTERNAL_PRESSURE 8.98157 CFSIZE 260034560,215920640

TCM_TEMP 19.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,8523.53,0x2378ba,7,5

SC_FREEKB 3804256 CURRENT 0.158,320.6,1

PM_FREEKB 50612832 GPS 300914,201727,4753.165,-12516.890,11,2.8,31,18.8

_24V_AH 13.4,101.443

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 384 119.37 nil 0 0 0.00

Roll_motor 84 169 192.34 nil 0 0 0.00

VBD_pump_during_apogee 315 1042 4409.60 nil 0 0 0.00

VBD_pump_during_surface 26 97 35.12 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 7285 7 755.86

Iridium_during_xfer 258 157 545.61 PMAR 3147 4 173.32

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.61

TT8 1562 10 207.60

LPSleep 3898 2 110.98

TT8_Active 513 10 68.24

TT8_Sampling 1406 28 529.51

TT8_CF8 416 35 193.40

TT8_Kalman 0 0 0.00

Analog_circuits 1431 10 186.13

GPS_charging 0 0 0.00

Compass 998 0 9.73

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

28 -0.59 -116.8 395 2398 1438 1227 0.0 0.0 0 80 0.00 0.00 -48.15 0.000 16386 0.000 0.000 397 2400 2572 2661 2484 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.59 -116.8 397 2396 2665 2484 3.0 -1.9 5 124 12.75 2.58 -17.02 0.000 18692 0.385 0.111 3125 3803 3337 3381 3293 0 0 0 0 0 0 13.83 14.21 14.52

354 -0.59 -116.8 3125 3803 3382 3298 46.8 -13.4 32 363 0.00 2.45 0.00 0.000 1030 0.000 0.063 3125 2390 3339 3381 3297 0 0 0 0 0 0 28.83 14.25 28.83

605 -0.59 -116.8 3125 2386 3382 3298 79.6 -10.7 57 613 0.00 2.53 0.00 0.000 260 0.000 0.087 3125 3803 3340 3382 3298 0 0 0 0 0 0 28.83 14.20 28.83

844 -0.59 -116.8 3125 3803 3382 3299 103.4 -10.5 81 853 0.00 2.42 0.00 0.000 1030 0.000 0.063 3125 2404 3341 3384 3299 0 0 0 0 0 0 28.83 14.29 28.83

1094 -0.59 -116.8 3125 2401 3382 3299 130.5 -10.5 106 1103 0.00 2.50 0.00 0.000 260 0.000 0.088 3125 3803 3340 3382 3298 0 0 0 0 0 0 28.83 14.21 28.83

1334 -0.59 -116.8 3125 3802 3382 3299 153.0 -8.3 130 1344 0.00 2.47 0.00 0.000 1030 0.000 0.063 3125 2390 3340 3382 3299 0 0 0 0 0 0 28.83 14.23 28.83

1584 -0.59 -116.8 3127 2389 3383 3299 173.9 -9.6 155 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2388 3340 3382 3299 0 0 0 0 0 0 28.83 28.83 28.83

1835 -0.59 -116.8 3125 2387 3382 3299 198.3 -8.9 180 1843 0.00 2.45 0.00 0.000 516 0.000 0.077 3125 1001 3340 3382 3299 0 0 0 0 0 0 28.83 14.23 28.83

1914 -0.59 -116.8 3125 1001 3382 3298 205.6 -8.9 188 1923 0.00 2.45 0.00 0.000 1030 0.000 0.071 3125 2397 3340 3383 3298 0 0 0 0 0 0 28.83 14.26 28.83

2164 -0.59 -116.8 3126 2398 3382 3298 227.1 -8.9 213 2173 0.00 2.45 0.00 0.000 516 0.000 0.075 3125 1000 3339 3382 3297 0 0 0 0 0 0 28.83 14.23 28.83

2214 -0.59 -116.8 3125 1000 3383 3299 231.6 -9.2 218 2224 0.00 2.45 0.00 0.000 1030 0.000 0.072 3125 2404 3339 3382 3297 0 0 0 0 0 0 28.83 14.25 28.83

2474 -0.59 -116.8 3125 2403 3382 3297 252.9 -7.9 242 2483 0.00 2.50 0.00 0.000 260 0.000 0.091 3125 3808 3339 3382 3297 0 0 0 0 0 0 28.83 14.21 28.83

2524 -0.59 -116.8 3125 3808 3382 3296 256.8 -8.0 247 2533 0.00 2.42 0.00 0.000 1030 0.000 0.066 3125 2404 3339 3382 3297 0 0 0 0 0 0 28.83 14.27 28.83

2838 -0.59 -116.8 3122 2403 3383 3300 280.3 -7.7 258 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2404 3338 3382 3295 0 0 0 0 0 0 28.83 28.83 28.83

3010 end dive: TARGET_DEPTH_EXCEEDED

state 3010 begin apogee

3019 -0.25 0.0 3125 2315 3382 3295 294.2 -8.1 264 3116 0.40 0.00 91.55 1.043 10246 0.189 0.000 3240 2315 2858 2930 2786 0 0 0 0 0 0 14.07 28.83 13.59

3120 end apogee: CONTROL_FINISHED_OK

state 3120 begin climb

3124 0.59 116.8 3240 2315 2928 2781 297.0 0.0 267 3228 0.82 2.67 92.78 1.022 11012 0.126 0.086 3509 3741 2377 2511 2243 0 0 0 0 0 0 14.08 14.00 13.45

3271 0.63 178.6 3514 3741 2510 2242 292.3 4.7 277 3332 0.00 2.47 48.97 1.013 9222 0.000 0.068 3510 2347 2125 2276 1975 0 0 0 0 0 0 28.83 14.03 13.42

3642 0.63 178.6 3510 2351 2275 1975 263.7 8.2 294 3652 0.00 2.53 0.00 0.000 516 0.000 0.086 3510 916 2125 2275 1976 0 0 0 0 0 0 28.83 14.19 28.83

3712 0.63 178.6 3510 916 2276 1976 258.0 8.2 301 3722 0.00 2.47 0.00 0.000 1030 0.000 0.070 3510 2334 2125 2275 1975 0 0 0 0 0 0 28.83 14.26 28.83

4023 0.63 178.6 3510 2333 2275 1975 233.5 7.8 326 4034 0.00 2.47 0.00 0.000 260 0.000 0.088 3510 3740 2124 2275 1974 0 0 0 0 0 0 28.83 14.26 28.83

4084 0.63 178.6 3510 3739 2275 1973 228.0 9.5 332 4094 0.00 2.47 0.00 0.000 1030 0.000 0.073 3510 2325 2124 2275 1974 0 0 0 0 0 0 28.83 14.27 28.83

4335 0.63 178.6 3510 2326 2275 1969 208.2 7.7 357 4345 0.00 2.47 0.00 0.000 516 0.000 0.090 3510 923 2127 2281 1974 0 0 0 0 0 0 28.83 14.24 28.83

4458 0.63 178.6 3510 922 2275 1973 198.3 7.9 369 4469 0.00 2.47 0.00 0.000 1030 0.000 0.072 3510 2339 2124 2275 1973 0 0 0 0 0 0 28.83 14.31 28.83

4708 0.63 178.6 3509 2338 2275 1973 178.5 7.2 394 4720 0.00 2.47 0.00 0.000 260 0.000 0.090 3510 3742 2122 2275 1970 0 0 0 0 0 0 28.83 14.27 28.83

4761 0.63 178.6 3510 3742 2275 1973 174.3 8.2 399 4772 0.00 2.47 0.00 0.000 1030 0.000 0.074 3510 2332 2124 2275 1973 0 0 0 0 0 0 28.83 14.25 28.83

5013 0.65 178.6 3510 2331 2275 1973 156.2 6.7 424 5024 0.00 2.50 0.00 0.000 516 0.000 0.085 3510 908 2124 2275 1973 0 0 0 0 0 0 28.83 14.24 28.83

5065 0.66 178.6 3510 907 2274 1974 152.6 6.8 429 5075 0.00 2.47 0.00 0.000 1030 0.000 0.070 3514 2331 2124 2275 1974 0 0 0 0 0 0 28.83 14.32 28.83

5315 0.66 178.6 3510 2331 2274 1974 134.1 7.0 454 5327 0.00 2.50 0.00 0.000 260 0.000 0.088 3510 3742 2127 2275 1980 0 0 0 0 0 0 28.83 14.25 28.83

5367 0.66 178.6 3516 3741 2275 1973 130.0 8.3 459 5378 0.00 2.47 0.00 0.000 1030 0.000 0.072 3510 2327 2125 2278 1973 0 0 0 0 0 0 28.83 14.26 28.83

5618 0.66 178.6 3507 2331 2275 1973 111.0 8.0 484 5629 0.00 2.50 0.00 0.000 516 0.000 0.088 3510 913 2124 2275 1974 0 0 0 0 0 0 28.83 14.21 28.83

5690 0.66 178.6 3510 913 2275 1974 105.9 7.2 491 5700 0.00 2.47 0.00 0.000 1030 0.000 0.070 3510 2341 2124 2275 1974 0 0 0 0 0 0 28.83 14.29 28.83

5941 0.66 178.6 3510 2337 2276 1973 86.9 7.6 516 5952 0.00 2.47 0.00 0.000 260 0.000 0.089 3509 3737 2123 2274 1973 0 0 0 0 0 0 28.83 14.24 28.83

5981 0.66 178.6 3511 3736 2274 1973 83.8 7.6 520 5992 0.00 2.47 0.00 0.000 1030 0.000 0.071 3510 2329 2124 2274 1974 0 0 0 0 0 0 28.83 14.26 28.83

6232 0.68 178.6 3510 2326 2275 1974 68.7 6.4 545 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2326 2124 2275 1973 0 0 0 0 0 0 28.83 28.83 28.83

6484 0.73 247.7 3510 2326 2274 1973 54.8 4.4 570 6546 0.12 2.58 51.30 0.763 10500 0.135 0.087 3574 3732 1843 1987 1699 0 0 0 0 0 0 14.34 14.31 13.85

6726 0.73 247.7 3574 3732 1986 1701 32.7 11.2 594 6738 0.00 2.45 0.00 0.000 1030 0.000 0.068 3575 2323 1842 1986 1698 0 0 0 0 0 0 28.83 14.23 28.83

6980 0.77 313.6 3574 2322 1986 1703 16.2 4.6 619 7020 0.00 2.55 31.00 0.155 8708 0.000 0.084 3576 917 1580 1730 1430 0 0 0 0 0 0 28.83 14.21 14.14

7206 end climb: SURFACE_DEPTH_REACHED

state 7206 begin surface coast

7267 end surface coast: CONTROL_FINISHED_OK

state 7267 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	418	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	27	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	28	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	-1593967.9	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	300914,180536,4753.170,-12516.753,66,1.6,67,18.8	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	2.35	MHEAD_RNG_PITCHd_Wd	108.7,8496,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-73.8	D_GRID	293
GPS2	300914,181337,4753.175,-12516.851,11,1.7,11,18.8

FINISH	1.2,1.023632	_10V_AH	13.0,0.000
SM_CCo	7295,26.98,0.097,0,0,1329,375.06	FG_AHR_24Vo	0.000
SM_GC	1.97,9.05,2.65,26.98,0.057,0.071,0.097,389,2399,1329,-9.11,-0.71,375.06,0,0,0,0,0,0,14.29,14.30,14.27	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12522.93,300914,151534	MEM	290840
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23391,648
HUMID	51.18	CAP_FILE_SIZE	118140,0
INTERNAL_PRESSURE	8.98157	CFSIZE	260034560,215920640
TCM_TEMP	19.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,8523.53,0x2378ba,7,5
SC_FREEKB	3804256	CURRENT	0.158,320.6,1
PM_FREEKB	50612832	GPS	300914,201727,4753.165,-12516.890,11,2.8,31,18.8
_24V_AH	13.4,101.443

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	384	119.37	nil	0	0	0.00
Roll_motor	84	169	192.34	nil	0	0	0.00
VBD_pump_during_apogee	315	1042	4409.60	nil	0	0	0.00
VBD_pump_during_surface	26	97	35.12	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	7285	7	755.86
Iridium_during_xfer	258	157	545.61	PMAR	3147	4	173.32
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.61
TT8	1562	10	207.60
LPSleep	3898	2	110.98
TT8_Active	513	10	68.24
TT8_Sampling	1406	28	529.51
TT8_CF8	416	35	193.40
TT8_Kalman	0	0	0.00
Analog_circuits	1431	10	186.13
GPS_charging	0	0	0.00
Compass	998	0	9.73
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
28	-0.59	-116.8	395	2398	1438	1227	0.0	0.0	0	80	0.00	0.00	-48.15	0.000	16386	0.000	0.000	397	2400	2572	2661	2484	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.59	-116.8	397	2396	2665	2484	3.0	-1.9	5	124	12.75	2.58	-17.02	0.000	18692	0.385	0.111	3125	3803	3337	3381	3293	0	0	0	0	0	0	13.83	14.21	14.52
354	-0.59	-116.8	3125	3803	3382	3298	46.8	-13.4	32	363	0.00	2.45	0.00	0.000	1030	0.000	0.063	3125	2390	3339	3381	3297	0	0	0	0	0	0	28.83	14.25	28.83
605	-0.59	-116.8	3125	2386	3382	3298	79.6	-10.7	57	613	0.00	2.53	0.00	0.000	260	0.000	0.087	3125	3803	3340	3382	3298	0	0	0	0	0	0	28.83	14.20	28.83
844	-0.59	-116.8	3125	3803	3382	3299	103.4	-10.5	81	853	0.00	2.42	0.00	0.000	1030	0.000	0.063	3125	2404	3341	3384	3299	0	0	0	0	0	0	28.83	14.29	28.83
1094	-0.59	-116.8	3125	2401	3382	3299	130.5	-10.5	106	1103	0.00	2.50	0.00	0.000	260	0.000	0.088	3125	3803	3340	3382	3298	0	0	0	0	0	0	28.83	14.21	28.83
1334	-0.59	-116.8	3125	3802	3382	3299	153.0	-8.3	130	1344	0.00	2.47	0.00	0.000	1030	0.000	0.063	3125	2390	3340	3382	3299	0	0	0	0	0	0	28.83	14.23	28.83
1584	-0.59	-116.8	3127	2389	3383	3299	173.9	-9.6	155	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2388	3340	3382	3299	0	0	0	0	0	0	28.83	28.83	28.83
1835	-0.59	-116.8	3125	2387	3382	3299	198.3	-8.9	180	1843	0.00	2.45	0.00	0.000	516	0.000	0.077	3125	1001	3340	3382	3299	0	0	0	0	0	0	28.83	14.23	28.83
1914	-0.59	-116.8	3125	1001	3382	3298	205.6	-8.9	188	1923	0.00	2.45	0.00	0.000	1030	0.000	0.071	3125	2397	3340	3383	3298	0	0	0	0	0	0	28.83	14.26	28.83
2164	-0.59	-116.8	3126	2398	3382	3298	227.1	-8.9	213	2173	0.00	2.45	0.00	0.000	516	0.000	0.075	3125	1000	3339	3382	3297	0	0	0	0	0	0	28.83	14.23	28.83
2214	-0.59	-116.8	3125	1000	3383	3299	231.6	-9.2	218	2224	0.00	2.45	0.00	0.000	1030	0.000	0.072	3125	2404	3339	3382	3297	0	0	0	0	0	0	28.83	14.25	28.83
2474	-0.59	-116.8	3125	2403	3382	3297	252.9	-7.9	242	2483	0.00	2.50	0.00	0.000	260	0.000	0.091	3125	3808	3339	3382	3297	0	0	0	0	0	0	28.83	14.21	28.83
2524	-0.59	-116.8	3125	3808	3382	3296	256.8	-8.0	247	2533	0.00	2.42	0.00	0.000	1030	0.000	0.066	3125	2404	3339	3382	3297	0	0	0	0	0	0	28.83	14.27	28.83
2838	-0.59	-116.8	3122	2403	3383	3300	280.3	-7.7	258	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2404	3338	3382	3295	0	0	0	0	0	0	28.83	28.83	28.83
3010	end dive: TARGET_DEPTH_EXCEEDED
state	3010	begin apogee
3019	-0.25	0.0	3125	2315	3382	3295	294.2	-8.1	264	3116	0.40	0.00	91.55	1.043	10246	0.189	0.000	3240	2315	2858	2930	2786	0	0	0	0	0	0	14.07	28.83	13.59
3120	end apogee: CONTROL_FINISHED_OK
state	3120	begin climb
3124	0.59	116.8	3240	2315	2928	2781	297.0	0.0	267	3228	0.82	2.67	92.78	1.022	11012	0.126	0.086	3509	3741	2377	2511	2243	0	0	0	0	0	0	14.08	14.00	13.45
3271	0.63	178.6	3514	3741	2510	2242	292.3	4.7	277	3332	0.00	2.47	48.97	1.013	9222	0.000	0.068	3510	2347	2125	2276	1975	0	0	0	0	0	0	28.83	14.03	13.42
3642	0.63	178.6	3510	2351	2275	1975	263.7	8.2	294	3652	0.00	2.53	0.00	0.000	516	0.000	0.086	3510	916	2125	2275	1976	0	0	0	0	0	0	28.83	14.19	28.83
3712	0.63	178.6	3510	916	2276	1976	258.0	8.2	301	3722	0.00	2.47	0.00	0.000	1030	0.000	0.070	3510	2334	2125	2275	1975	0	0	0	0	0	0	28.83	14.26	28.83
4023	0.63	178.6	3510	2333	2275	1975	233.5	7.8	326	4034	0.00	2.47	0.00	0.000	260	0.000	0.088	3510	3740	2124	2275	1974	0	0	0	0	0	0	28.83	14.26	28.83
4084	0.63	178.6	3510	3739	2275	1973	228.0	9.5	332	4094	0.00	2.47	0.00	0.000	1030	0.000	0.073	3510	2325	2124	2275	1974	0	0	0	0	0	0	28.83	14.27	28.83
4335	0.63	178.6	3510	2326	2275	1969	208.2	7.7	357	4345	0.00	2.47	0.00	0.000	516	0.000	0.090	3510	923	2127	2281	1974	0	0	0	0	0	0	28.83	14.24	28.83
4458	0.63	178.6	3510	922	2275	1973	198.3	7.9	369	4469	0.00	2.47	0.00	0.000	1030	0.000	0.072	3510	2339	2124	2275	1973	0	0	0	0	0	0	28.83	14.31	28.83
4708	0.63	178.6	3509	2338	2275	1973	178.5	7.2	394	4720	0.00	2.47	0.00	0.000	260	0.000	0.090	3510	3742	2122	2275	1970	0	0	0	0	0	0	28.83	14.27	28.83
4761	0.63	178.6	3510	3742	2275	1973	174.3	8.2	399	4772	0.00	2.47	0.00	0.000	1030	0.000	0.074	3510	2332	2124	2275	1973	0	0	0	0	0	0	28.83	14.25	28.83
5013	0.65	178.6	3510	2331	2275	1973	156.2	6.7	424	5024	0.00	2.50	0.00	0.000	516	0.000	0.085	3510	908	2124	2275	1973	0	0	0	0	0	0	28.83	14.24	28.83
5065	0.66	178.6	3510	907	2274	1974	152.6	6.8	429	5075	0.00	2.47	0.00	0.000	1030	0.000	0.070	3514	2331	2124	2275	1974	0	0	0	0	0	0	28.83	14.32	28.83
5315	0.66	178.6	3510	2331	2274	1974	134.1	7.0	454	5327	0.00	2.50	0.00	0.000	260	0.000	0.088	3510	3742	2127	2275	1980	0	0	0	0	0	0	28.83	14.25	28.83
5367	0.66	178.6	3516	3741	2275	1973	130.0	8.3	459	5378	0.00	2.47	0.00	0.000	1030	0.000	0.072	3510	2327	2125	2278	1973	0	0	0	0	0	0	28.83	14.26	28.83
5618	0.66	178.6	3507	2331	2275	1973	111.0	8.0	484	5629	0.00	2.50	0.00	0.000	516	0.000	0.088	3510	913	2124	2275	1974	0	0	0	0	0	0	28.83	14.21	28.83
5690	0.66	178.6	3510	913	2275	1974	105.9	7.2	491	5700	0.00	2.47	0.00	0.000	1030	0.000	0.070	3510	2341	2124	2275	1974	0	0	0	0	0	0	28.83	14.29	28.83
5941	0.66	178.6	3510	2337	2276	1973	86.9	7.6	516	5952	0.00	2.47	0.00	0.000	260	0.000	0.089	3509	3737	2123	2274	1973	0	0	0	0	0	0	28.83	14.24	28.83
5981	0.66	178.6	3511	3736	2274	1973	83.8	7.6	520	5992	0.00	2.47	0.00	0.000	1030	0.000	0.071	3510	2329	2124	2274	1974	0	0	0	0	0	0	28.83	14.26	28.83
6232	0.68	178.6	3510	2326	2275	1974	68.7	6.4	545	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2326	2124	2275	1973	0	0	0	0	0	0	28.83	28.83	28.83
6484	0.73	247.7	3510	2326	2274	1973	54.8	4.4	570	6546	0.12	2.58	51.30	0.763	10500	0.135	0.087	3574	3732	1843	1987	1699	0	0	0	0	0	0	14.34	14.31	13.85
6726	0.73	247.7	3574	3732	1986	1701	32.7	11.2	594	6738	0.00	2.45	0.00	0.000	1030	0.000	0.068	3575	2323	1842	1986	1698	0	0	0	0	0	0	28.83	14.23	28.83
6980	0.77	313.6	3574	2322	1986	1703	16.2	4.6	619	7020	0.00	2.55	31.00	0.155	8708	0.000	0.084	3576	917	1580	1730	1430	0	0	0	0	0	0	28.83	14.21	14.14
7206	end climb: SURFACE_DEPTH_REACHED
state	7206	begin surface coast
7267	end surface coast: CONTROL_FINISHED_OK
state	7267	begin surface