Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 419 * 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 419 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 29 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 22 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 -1593969.1 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 -1593969.1

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 29 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DIVE 419 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 300914,201727,4753.165,-12516.890,11,2.8,31,18.8 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 2.32 MHEAD_RNG_PITCHd_Wd 111.7,8615,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -73.6 D_GRID 316

GPS2 300914,202559,4753.166,-12516.954,33,1.1,43,18.8

Post-dive calculations and measurements:

FINISH 1.4,1.023439 _10V_AH 13.0,0.000

SM_CCo 8481,23.80,0.096,0,0,1328,375.06 FG_AHR_24Vo 0.000

SM_GC 2.14,9.05,0.15,23.80,0.054,0.155,0.096,379,2418,1328,-9.11,-0.51,375.06,0,0,0,0,0,0,14.36,14.31,14.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12527.41,300914,181820 MEM 290852

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 26695,751

HUMID 51.02 CAP_FILE_SIZE 133446,0

INTERNAL_PRESSURE 8.9718 CFSIZE 260034560,215830528

TCM_TEMP 18.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,7941.76,0x2378ba,7,5

SC_FREEKB 3803936 CURRENT 0.202,323.4,1

PM_FREEKB 50612800 GPS 300914,224913,4753.454,-12517.235,11,1.9,11,18.8

_24V_AH 13.4,101.576

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 382 118.53 nil 0 0 0.00

Roll_motor 84 172 195.07 nil 0 0 0.00

VBD_pump_during_apogee 301 1078 4356.41 nil 0 0 0.00

VBD_pump_during_surface 23 96 30.74 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 8473 7 864.71

Iridium_during_xfer 235 158 498.71 PMAR 109 5 7.49

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 22 13.06

TT8 1776 10 236.07

LPSleep 4647 2 132.31

TT8_Active 498 10 66.23

TT8_Sampling 1616 28 608.49

TT8_CF8 475 35 220.46

TT8_Kalman 0 0 0.00

Analog_circuits 1513 10 196.81

GPS_charging 0 0 0.00

Compass 1173 0 11.44

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.59 -116.8 389 2400 1438 1229 0.0 0.0 0 79 0.00 0.00 -47.50 0.000 16386 0.000 0.000 389 2400 2556 2641 2472 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.59 -116.8 389 2400 2642 2466 3.1 -1.8 5 130 12.73 2.58 -16.80 0.000 18692 0.383 0.109 3125 3809 3337 3381 3293 0 0 0 0 0 0 13.88 14.19 14.54

360 -0.59 -116.8 3125 3809 3381 3298 46.5 -10.1 33 370 0.00 2.42 0.00 0.000 1030 0.000 0.062 3125 2401 3340 3382 3298 0 0 0 0 0 0 28.83 14.22 28.83

610 -0.59 -116.8 3125 2401 3381 3298 72.0 -10.6 58 621 0.00 2.53 0.00 0.000 260 0.000 0.088 3125 3812 3340 3383 3298 0 0 0 0 0 0 28.83 14.18 28.83

852 -0.59 -116.8 3129 3812 3382 3299 99.4 -10.3 82 863 0.00 2.42 0.00 0.000 1030 0.000 0.062 3125 2400 3340 3382 3299 0 0 0 0 0 0 28.83 14.32 28.83

1104 -0.59 -116.8 3125 2400 3383 3299 123.3 -9.6 107 1115 0.00 2.50 0.00 0.000 260 0.000 0.087 3126 3809 3339 3383 3296 0 0 0 0 0 0 28.83 14.23 28.83

1315 -0.59 -116.8 3125 3809 3382 3299 144.7 -10.3 128 1325 0.00 2.42 0.00 0.000 1030 0.000 0.063 3126 2400 3339 3383 3296 0 0 0 0 0 0 28.83 14.31 28.83

1565 -0.59 -116.8 3126 2398 3382 3299 165.9 -8.0 153 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2398 3341 3383 3299 0 0 0 0 0 0 28.83 28.83 28.83

1815 -0.59 -116.8 3125 2398 3382 3299 184.0 -7.3 178 1826 0.00 2.45 0.00 0.000 516 0.000 0.074 3125 987 3341 3384 3299 0 0 0 0 0 0 28.83 14.21 28.83

1866 -0.59 -116.8 3126 984 3382 3298 188.0 -8.0 183 1877 0.00 2.47 0.00 0.000 1030 0.000 0.071 3126 2403 3342 3386 3298 0 0 0 0 0 0 28.83 14.28 28.83

2117 -0.59 -116.8 3126 2403 3383 3295 206.7 -7.3 208 2127 0.00 2.50 0.00 0.000 260 0.000 0.090 3123 3823 3340 3382 3298 0 0 0 0 0 0 28.83 14.21 28.83

2178 -0.59 -116.8 3126 3820 3382 3297 211.7 -8.1 214 2189 0.00 2.45 0.00 0.000 1030 0.000 0.063 3126 2389 3340 3383 3297 0 0 0 0 0 0 28.83 14.29 28.83

2430 -0.59 -116.8 3125 2387 3387 3298 232.3 -8.0 239 2441 0.00 2.42 0.00 0.000 516 0.000 0.076 3126 998 3339 3383 3296 0 0 0 0 0 0 28.83 14.26 28.83

2481 -0.59 -116.8 3128 998 3382 3296 236.9 -9.1 244 2492 0.00 2.45 0.00 0.000 1030 0.000 0.073 3126 2398 3339 3382 3296 0 0 0 0 0 0 28.83 14.26 28.83

2732 -0.59 -116.8 3125 2397 3383 3297 258.8 -8.9 263 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2397 3338 3382 3295 0 0 0 0 0 0 28.83 28.83 28.83

3032 -0.59 -116.8 3125 2398 3383 3294 285.3 -8.7 273 3042 0.00 2.50 0.00 0.000 260 0.000 0.091 3125 3817 3338 3382 3294 0 0 0 0 0 0 28.83 14.23 28.83

3174 -0.59 -116.8 3125 3816 3383 3293 297.9 -8.8 287 3185 0.00 2.45 0.00 0.000 1030 0.000 0.066 3125 2404 3337 3382 3293 0 0 0 0 0 0 28.83 14.31 28.83

3388 end dive: TARGET_DEPTH_EXCEEDED

state 3388 begin apogee

3398 -0.25 0.0 3123 2314 3383 3293 316.0 -8.4 295 3497 0.40 0.00 91.65 1.079 10246 0.187 0.000 3241 2314 2857 2930 2785 0 0 0 0 0 0 14.09 28.83 13.57

3499 end apogee: CONTROL_FINISHED_OK

state 3499 begin climb

3503 0.59 116.8 3241 2314 2928 2782 319.8 0.0 298 3615 0.82 2.70 92.97 1.053 10500 0.135 0.087 3508 3754 2377 2510 2244 0 0 0 0 0 0 14.08 13.95 13.43

3674 0.59 116.8 3507 3754 2510 2244 312.4 7.4 317 3684 0.00 2.50 0.00 0.000 1030 0.000 0.066 3508 2341 2377 2510 2244 0 0 0 0 0 0 28.83 14.07 28.83

3995 0.59 116.8 3508 2340 2508 2244 289.2 7.5 329 4005 0.00 2.50 0.00 0.000 516 0.000 0.081 3514 914 2377 2510 2244 0 0 0 0 0 0 28.83 14.21 28.83

4128 0.61 116.8 3508 914 2510 2244 280.2 6.6 342 4138 0.00 2.53 0.00 0.000 1030 0.000 0.070 3508 2351 2378 2512 2244 0 0 0 0 0 0 28.83 14.28 28.83

4448 0.61 116.8 3508 2351 2507 2244 259.0 6.8 354 4459 0.00 2.45 0.00 0.000 260 0.000 0.087 3509 3741 2376 2510 2242 0 0 0 0 0 0 28.83 14.27 28.83

4658 0.61 116.8 3508 3742 2510 2242 243.1 7.2 375 4670 0.00 2.45 0.00 0.000 1030 0.000 0.069 3508 2328 2376 2511 2241 0 0 0 0 0 0 28.83 14.30 28.83

4911 0.63 116.8 3508 2328 2509 2240 227.6 6.3 400 4921 0.00 2.47 0.00 0.000 516 0.000 0.083 3509 914 2375 2510 2241 0 0 0 0 0 0 28.83 14.23 28.83

5025 0.64 116.8 3509 913 2509 2240 220.5 6.6 411 5037 0.00 2.47 0.00 0.000 1030 0.000 0.070 3509 2337 2375 2510 2240 0 0 0 0 0 0 28.83 14.30 28.83

5278 0.64 116.8 3509 2337 2509 2240 202.0 7.1 436 5288 0.00 2.47 0.00 0.000 260 0.000 0.089 3508 3734 2374 2509 2240 0 0 0 0 0 0 28.83 14.26 28.83

5369 0.64 116.8 3514 3734 2509 2240 194.7 8.0 445 5380 0.00 2.45 0.00 0.000 1030 0.000 0.069 3508 2327 2374 2509 2240 0 0 0 0 0 0 28.83 14.25 28.83

5619 0.64 116.8 3508 2326 2509 2238 177.5 7.2 470 5629 0.00 0.00 0.00 0.000 6 0.000 0.000 3508 2326 2373 2509 2238 0 0 0 0 0 0 28.83 28.83 28.83

5870 0.66 116.8 3508 2331 2509 2239 161.3 6.5 495 5881 0.00 2.47 0.00 0.000 516 0.000 0.084 3509 921 2373 2509 2238 0 0 0 0 0 0 28.83 14.21 28.83

5996 0.68 116.8 3510 921 2509 2238 153.4 6.5 507 6007 0.00 2.45 0.00 0.000 1030 0.000 0.071 3508 2328 2370 2504 2237 0 0 0 0 0 0 28.83 14.31 28.83

6248 0.71 116.8 3509 2328 2508 2237 138.4 5.6 532 6259 0.12 0.00 0.00 0.000 2054 0.135 0.000 3572 2328 2373 2509 2237 0 0 0 0 0 0 14.39 28.83 28.83

6498 0.71 116.8 3572 2326 2509 2237 121.0 7.3 557 6509 0.00 2.50 0.00 0.000 260 0.000 0.087 3572 3738 2372 2508 2237 0 0 0 0 0 0 28.83 14.26 28.83

6739 0.72 116.8 3574 3738 2508 2236 101.8 6.6 581 6750 0.00 2.45 0.00 0.000 1030 0.000 0.066 3574 2321 2372 2508 2237 0 0 0 0 0 0 28.83 14.23 28.83

6990 0.75 116.8 3574 2321 2508 2237 87.3 6.0 606 7001 0.00 2.47 0.00 0.000 516 0.000 0.081 3578 917 2372 2508 2237 0 0 0 0 0 0 28.83 14.23 28.83

7231 0.80 184.6 3578 917 2508 2237 75.7 4.5 630 7293 0.00 2.47 50.90 0.786 9222 0.000 0.070 3579 2341 2103 2250 1956 0 0 0 0 0 0 28.83 14.28 13.85

7537 0.80 184.6 3578 2341 2249 1956 57.0 7.4 660 7548 0.00 2.50 0.00 0.000 516 0.000 0.080 3588 928 2103 2250 1957 0 0 0 0 0 0 28.83 14.19 28.83

7651 0.80 184.6 3584 928 2249 1956 47.4 9.3 671 7663 0.00 2.45 0.00 0.000 1030 0.000 0.071 3587 2324 2103 2250 1956 0 0 0 0 0 0 28.83 14.26 28.83

7903 0.82 184.6 3587 2324 2249 1956 29.9 6.2 696 7914 0.00 2.50 0.00 0.000 260 0.000 0.086 3587 3745 2103 2250 1956 0 0 0 0 0 0 28.83 14.23 28.83

8145 0.92 320.4 3588 3745 2249 1955 18.2 1.6 720 8227 0.00 2.45 65.88 0.164 9222 0.000 0.067 3587 2328 1551 1695 1407 0 0 0 0 0 0 28.83 14.28 14.12

8403 end climb: SURFACE_DEPTH_REACHED

state 8404 begin surface coast

8455 end surface coast: CONTROL_FINISHED_OK

state 8455 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	419	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	29	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	22	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	-1593969.1	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	300914,201727,4753.165,-12516.890,11,2.8,31,18.8	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	2.32	MHEAD_RNG_PITCHd_Wd	111.7,8615,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-73.6	D_GRID	316
GPS2	300914,202559,4753.166,-12516.954,33,1.1,43,18.8

FINISH	1.4,1.023439	_10V_AH	13.0,0.000
SM_CCo	8481,23.80,0.096,0,0,1328,375.06	FG_AHR_24Vo	0.000
SM_GC	2.14,9.05,0.15,23.80,0.054,0.155,0.096,379,2418,1328,-9.11,-0.51,375.06,0,0,0,0,0,0,14.36,14.31,14.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12527.41,300914,181820	MEM	290852
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	26695,751
HUMID	51.02	CAP_FILE_SIZE	133446,0
INTERNAL_PRESSURE	8.9718	CFSIZE	260034560,215830528
TCM_TEMP	18.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,7941.76,0x2378ba,7,5
SC_FREEKB	3803936	CURRENT	0.202,323.4,1
PM_FREEKB	50612800	GPS	300914,224913,4753.454,-12517.235,11,1.9,11,18.8
_24V_AH	13.4,101.576

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	382	118.53	nil	0	0	0.00
Roll_motor	84	172	195.07	nil	0	0	0.00
VBD_pump_during_apogee	301	1078	4356.41	nil	0	0	0.00
VBD_pump_during_surface	23	96	30.74	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	8473	7	864.71
Iridium_during_xfer	235	158	498.71	PMAR	109	5	7.49
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	22	13.06
TT8	1776	10	236.07
LPSleep	4647	2	132.31
TT8_Active	498	10	66.23
TT8_Sampling	1616	28	608.49
TT8_CF8	475	35	220.46
TT8_Kalman	0	0	0.00
Analog_circuits	1513	10	196.81
GPS_charging	0	0	0.00
Compass	1173	0	11.44
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.59	-116.8	389	2400	1438	1229	0.0	0.0	0	79	0.00	0.00	-47.50	0.000	16386	0.000	0.000	389	2400	2556	2641	2472	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.59	-116.8	389	2400	2642	2466	3.1	-1.8	5	130	12.73	2.58	-16.80	0.000	18692	0.383	0.109	3125	3809	3337	3381	3293	0	0	0	0	0	0	13.88	14.19	14.54
360	-0.59	-116.8	3125	3809	3381	3298	46.5	-10.1	33	370	0.00	2.42	0.00	0.000	1030	0.000	0.062	3125	2401	3340	3382	3298	0	0	0	0	0	0	28.83	14.22	28.83
610	-0.59	-116.8	3125	2401	3381	3298	72.0	-10.6	58	621	0.00	2.53	0.00	0.000	260	0.000	0.088	3125	3812	3340	3383	3298	0	0	0	0	0	0	28.83	14.18	28.83
852	-0.59	-116.8	3129	3812	3382	3299	99.4	-10.3	82	863	0.00	2.42	0.00	0.000	1030	0.000	0.062	3125	2400	3340	3382	3299	0	0	0	0	0	0	28.83	14.32	28.83
1104	-0.59	-116.8	3125	2400	3383	3299	123.3	-9.6	107	1115	0.00	2.50	0.00	0.000	260	0.000	0.087	3126	3809	3339	3383	3296	0	0	0	0	0	0	28.83	14.23	28.83
1315	-0.59	-116.8	3125	3809	3382	3299	144.7	-10.3	128	1325	0.00	2.42	0.00	0.000	1030	0.000	0.063	3126	2400	3339	3383	3296	0	0	0	0	0	0	28.83	14.31	28.83
1565	-0.59	-116.8	3126	2398	3382	3299	165.9	-8.0	153	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2398	3341	3383	3299	0	0	0	0	0	0	28.83	28.83	28.83
1815	-0.59	-116.8	3125	2398	3382	3299	184.0	-7.3	178	1826	0.00	2.45	0.00	0.000	516	0.000	0.074	3125	987	3341	3384	3299	0	0	0	0	0	0	28.83	14.21	28.83
1866	-0.59	-116.8	3126	984	3382	3298	188.0	-8.0	183	1877	0.00	2.47	0.00	0.000	1030	0.000	0.071	3126	2403	3342	3386	3298	0	0	0	0	0	0	28.83	14.28	28.83
2117	-0.59	-116.8	3126	2403	3383	3295	206.7	-7.3	208	2127	0.00	2.50	0.00	0.000	260	0.000	0.090	3123	3823	3340	3382	3298	0	0	0	0	0	0	28.83	14.21	28.83
2178	-0.59	-116.8	3126	3820	3382	3297	211.7	-8.1	214	2189	0.00	2.45	0.00	0.000	1030	0.000	0.063	3126	2389	3340	3383	3297	0	0	0	0	0	0	28.83	14.29	28.83
2430	-0.59	-116.8	3125	2387	3387	3298	232.3	-8.0	239	2441	0.00	2.42	0.00	0.000	516	0.000	0.076	3126	998	3339	3383	3296	0	0	0	0	0	0	28.83	14.26	28.83
2481	-0.59	-116.8	3128	998	3382	3296	236.9	-9.1	244	2492	0.00	2.45	0.00	0.000	1030	0.000	0.073	3126	2398	3339	3382	3296	0	0	0	0	0	0	28.83	14.26	28.83
2732	-0.59	-116.8	3125	2397	3383	3297	258.8	-8.9	263	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2397	3338	3382	3295	0	0	0	0	0	0	28.83	28.83	28.83
3032	-0.59	-116.8	3125	2398	3383	3294	285.3	-8.7	273	3042	0.00	2.50	0.00	0.000	260	0.000	0.091	3125	3817	3338	3382	3294	0	0	0	0	0	0	28.83	14.23	28.83
3174	-0.59	-116.8	3125	3816	3383	3293	297.9	-8.8	287	3185	0.00	2.45	0.00	0.000	1030	0.000	0.066	3125	2404	3337	3382	3293	0	0	0	0	0	0	28.83	14.31	28.83
3388	end dive: TARGET_DEPTH_EXCEEDED
state	3388	begin apogee
3398	-0.25	0.0	3123	2314	3383	3293	316.0	-8.4	295	3497	0.40	0.00	91.65	1.079	10246	0.187	0.000	3241	2314	2857	2930	2785	0	0	0	0	0	0	14.09	28.83	13.57
3499	end apogee: CONTROL_FINISHED_OK
state	3499	begin climb
3503	0.59	116.8	3241	2314	2928	2782	319.8	0.0	298	3615	0.82	2.70	92.97	1.053	10500	0.135	0.087	3508	3754	2377	2510	2244	0	0	0	0	0	0	14.08	13.95	13.43
3674	0.59	116.8	3507	3754	2510	2244	312.4	7.4	317	3684	0.00	2.50	0.00	0.000	1030	0.000	0.066	3508	2341	2377	2510	2244	0	0	0	0	0	0	28.83	14.07	28.83
3995	0.59	116.8	3508	2340	2508	2244	289.2	7.5	329	4005	0.00	2.50	0.00	0.000	516	0.000	0.081	3514	914	2377	2510	2244	0	0	0	0	0	0	28.83	14.21	28.83
4128	0.61	116.8	3508	914	2510	2244	280.2	6.6	342	4138	0.00	2.53	0.00	0.000	1030	0.000	0.070	3508	2351	2378	2512	2244	0	0	0	0	0	0	28.83	14.28	28.83
4448	0.61	116.8	3508	2351	2507	2244	259.0	6.8	354	4459	0.00	2.45	0.00	0.000	260	0.000	0.087	3509	3741	2376	2510	2242	0	0	0	0	0	0	28.83	14.27	28.83
4658	0.61	116.8	3508	3742	2510	2242	243.1	7.2	375	4670	0.00	2.45	0.00	0.000	1030	0.000	0.069	3508	2328	2376	2511	2241	0	0	0	0	0	0	28.83	14.30	28.83
4911	0.63	116.8	3508	2328	2509	2240	227.6	6.3	400	4921	0.00	2.47	0.00	0.000	516	0.000	0.083	3509	914	2375	2510	2241	0	0	0	0	0	0	28.83	14.23	28.83
5025	0.64	116.8	3509	913	2509	2240	220.5	6.6	411	5037	0.00	2.47	0.00	0.000	1030	0.000	0.070	3509	2337	2375	2510	2240	0	0	0	0	0	0	28.83	14.30	28.83
5278	0.64	116.8	3509	2337	2509	2240	202.0	7.1	436	5288	0.00	2.47	0.00	0.000	260	0.000	0.089	3508	3734	2374	2509	2240	0	0	0	0	0	0	28.83	14.26	28.83
5369	0.64	116.8	3514	3734	2509	2240	194.7	8.0	445	5380	0.00	2.45	0.00	0.000	1030	0.000	0.069	3508	2327	2374	2509	2240	0	0	0	0	0	0	28.83	14.25	28.83
5619	0.64	116.8	3508	2326	2509	2238	177.5	7.2	470	5629	0.00	0.00	0.00	0.000	6	0.000	0.000	3508	2326	2373	2509	2238	0	0	0	0	0	0	28.83	28.83	28.83
5870	0.66	116.8	3508	2331	2509	2239	161.3	6.5	495	5881	0.00	2.47	0.00	0.000	516	0.000	0.084	3509	921	2373	2509	2238	0	0	0	0	0	0	28.83	14.21	28.83
5996	0.68	116.8	3510	921	2509	2238	153.4	6.5	507	6007	0.00	2.45	0.00	0.000	1030	0.000	0.071	3508	2328	2370	2504	2237	0	0	0	0	0	0	28.83	14.31	28.83
6248	0.71	116.8	3509	2328	2508	2237	138.4	5.6	532	6259	0.12	0.00	0.00	0.000	2054	0.135	0.000	3572	2328	2373	2509	2237	0	0	0	0	0	0	14.39	28.83	28.83
6498	0.71	116.8	3572	2326	2509	2237	121.0	7.3	557	6509	0.00	2.50	0.00	0.000	260	0.000	0.087	3572	3738	2372	2508	2237	0	0	0	0	0	0	28.83	14.26	28.83
6739	0.72	116.8	3574	3738	2508	2236	101.8	6.6	581	6750	0.00	2.45	0.00	0.000	1030	0.000	0.066	3574	2321	2372	2508	2237	0	0	0	0	0	0	28.83	14.23	28.83
6990	0.75	116.8	3574	2321	2508	2237	87.3	6.0	606	7001	0.00	2.47	0.00	0.000	516	0.000	0.081	3578	917	2372	2508	2237	0	0	0	0	0	0	28.83	14.23	28.83
7231	0.80	184.6	3578	917	2508	2237	75.7	4.5	630	7293	0.00	2.47	50.90	0.786	9222	0.000	0.070	3579	2341	2103	2250	1956	0	0	0	0	0	0	28.83	14.28	13.85
7537	0.80	184.6	3578	2341	2249	1956	57.0	7.4	660	7548	0.00	2.50	0.00	0.000	516	0.000	0.080	3588	928	2103	2250	1957	0	0	0	0	0	0	28.83	14.19	28.83
7651	0.80	184.6	3584	928	2249	1956	47.4	9.3	671	7663	0.00	2.45	0.00	0.000	1030	0.000	0.071	3587	2324	2103	2250	1956	0	0	0	0	0	0	28.83	14.26	28.83
7903	0.82	184.6	3587	2324	2249	1956	29.9	6.2	696	7914	0.00	2.50	0.00	0.000	260	0.000	0.086	3587	3745	2103	2250	1956	0	0	0	0	0	0	28.83	14.23	28.83
8145	0.92	320.4	3588	3745	2249	1955	18.2	1.6	720	8227	0.00	2.45	65.88	0.164	9222	0.000	0.067	3587	2328	1551	1695	1407	0	0	0	0	0	0	28.83	14.28	14.12
8403	end climb: SURFACE_DEPTH_REACHED
state	8404	begin surface coast
8455	end surface coast: CONTROL_FINISHED_OK
state	8455	begin surface