Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 537 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

DIVE 537 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 ALTIM_SENSITIVITY 3

D_SURF 4 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_VALID 1

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_TGT 990 SM_CC 400 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1020 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.69999999

D_NO_BLEED 200 FILEMGR 0 VBD_MIN 470 DEEPGLIDER 0

D_BOOST 20 CALL_NDIVES 1 VBD_MAX 3900 MOTHERBOARD 4

T_BOOST 5 COMM_SEQ 0 C_VBD 2941 DEVICE1 -1

D_FINISH 0 PROTOCOL 8 VBD_DBAND 2 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00050000002 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_DIVE 450 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

T_MISSION 570 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_TURN 225 T_GPS 5 W_ADJ_DBAND 2 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 N_GPS 100440 DBDW 0 COMPASS2_DEVICE 149

T_NO_W 120 T_RSLEEP 2 PITCH_W_GAIN 2 PHONE_DEVICE 49

T_LOITER 0 STROBE 0 PITCH_W_DBAND 0.5 GPS_DEVICE 64

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 RAFOS_CORR_THRESH 60 AH0_24V 350 XPDR_DEVICE 24

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 100 MINV_24V 10 SIM_PITCH 0

D_OFFGRID 1000 PITCH_MAX 3850 MINV_10V 10 SEABIRD_T_G 0.0043979231

T_WATCHDOG 10 C_PITCH 3394 MAXI_24V 0.60000002 SEABIRD_T_H 0.00063691288

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_I 2.4734132e-05

APOGEE_PITCH -7 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 2.9167527e-06

MAX_BUOY 110 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -9.67243

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1076213

GLIDE_SLOPE 30 PITCH_GAIN 44 PRESSURE_YINT -164.55209 SEABIRD_C_I -0.0017588359

SPEED_FACTOR 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001068 SEABIRD_C_J 0.00021615655

RHO 1.0275 PITCH_AD_RATE 165 AD7714Ch0Gain 1 SC_RECORDABOVE 2000.0

MASS 53572 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MIN 440 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

KALMAN_USE 2 ROLL_MAX 4000 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 1.0

HD_A 0.0026964601 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099003203 C_ROLL_DIVE 1970 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_C 2.26204e-06 C_ROLL_CLIMB 2250 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

AD7714Ch0Gain 1 D_SURF 4 PITCH_AD_RATE 165 SEABIRD_T_H 0.00063691288

AH0_10V 0 D_TGT 990 PITCH_CNV 0.003125763 SEABIRD_T_I 2.4734132e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.9167527e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 44 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3850 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_MIN 100 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00050000002 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0026964601 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099003203 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -7 HD_C 2.26204e-06 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEADING -1 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEAD_ERRBAND 10 PM_XMITPROFILE 1.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAPDBG 0 PM_XMITRAW 0.0 T_ABORT 1440

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001068 T_BOOST 5

CAPUPLOAD 0 ID 187 PRESSURE_YINT -164.55209 T_DIVE 450

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 8 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RAFOS_CORR_THRESH 60 T_MISSION 570

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_PITCH 3394 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2250 LOGGERS 3 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 1970 MASS 53572 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 110 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 10 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 10 ROLL_MAX 4000 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 8 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3900

DIVE 537 NOCOMM_ACTION 161 R_PORT_OVSHOOT 25 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 17 VBD_MIN 470

D_BOOST 20 N_FILEKB 4 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.67243 W_ADJ_DBAND 2

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_H 1.1076213 XPDR_DEVICE 24

D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017588359 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00021615655 XPDR_VALID 1

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043979231

Pre-dive calculations and measurements:

GPS1 131115,173540,4751.0767,-12513.3926,32,1.2,33,16.5,0.9,112.2,7,8.9 SPEED_LIMITS 0.127,0.207

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 1 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.90 MHEAD_RNG_PITCHd_Wd 94.3,4288,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -76.3 D_GRID 280

GPS2 131115,175027,4751.0312,-12513.4502,3,1.4,6,16.5,1.1,179.4,6,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.024086 _10V_AH 12.70,0.000

SM_CCo 8642,40.97,0.083,0,0,1309,400.08 FG_AHR_24Vo 0.000

SM_GC 1.61,9.93,0.52,40.97,0.034,0.101,0.083,87,1961,1309,-10.27,0.51,400.08,0,0,0,0,0,0,14.25,14.18,14.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12513.98,131115,142729 MEM 286364

TT8_MAMPS 0.02247,0.02247 DATA_FILE_SIZE 16761,474

HUMID 51.10 CAP_FILE_SIZE 99576,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260034560,190820352

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.220,342.48,1

SC_FREEKB 3718656 GPS 131115,201701,4751.729,-12513.017,24,0.8,24,16.5,2.3,287.9,11,7.6

_24V_AH 12.40,151.787

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 370 118.91 nil 0 0 0.00

Roll_motor 78 102 99.24 nil 0 0 0.00

VBD_pump_during_apogee 312 1054 4081.97 nil 0 0 0.00

VBD_pump_during_surface 40 82 41.98 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 8684 7 823.33

Iridium_during_xfer 493 149 917.22 PMAR 198 8 20.01

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 15 1.56

TT8 944 10 130.42

LPSleep 6051 2 168.31

TT8_Active 469 10 64.84

TT8_Sampling 1500 29 564.20

TT8_CF8 596 35 269.79

TT8_Kalman 0 0 0.00

Analog_circuits 1634 11 240.75

GPS_charging 0 0 0.00

Compass 702 16 146.95

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

29 -0.39 -107.1 76 1954 1206 1420 0.0 0.0 0 111 0.00 0.00 -75.40 0.000 16390 0.000 0.000 74 1954 3380 3364 3396 0 0 0 0 0 0 14.50 12.40 14.47

119 -0.39 -107.1 74 1955 3366 3396 1.7 -2.7 2 148 14.73 2.53 0.00 0.000 2820 0.370 0.096 3263 564 3383 3367 3399 0 0 0 0 0 0 13.73 14.09 14.11

359 -0.39 -107.1 3263 564 3365 3403 50.0 -10.4 47 370 0.00 2.53 0.00 0.000 1030 0.000 0.086 3264 1970 3384 3366 3403 0 0 0 0 0 0 14.20 14.06 14.24

687 -0.39 -107.1 3263 1967 3365 3406 77.7 -8.3 55 698 0.00 2.60 0.00 0.000 260 0.000 0.101 3264 3390 3385 3365 3405 0 0 0 0 0 0 14.59 13.97 14.61

808 -0.39 -107.1 3263 3390 3365 3406 86.3 -7.2 76 819 0.00 2.53 0.00 0.000 1030 0.000 0.084 3264 1976 3388 3365 3411 0 0 0 0 0 0 14.21 14.07 14.26

1135 -0.39 -107.1 3263 1976 3360 3406 113.2 -8.2 84 1146 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1976 3385 3365 3406 0 0 0 0 0 0 14.61 14.63 14.65

1436 -0.39 -107.1 3263 1975 3365 3406 135.3 -7.3 89 1447 0.00 2.58 0.00 0.000 516 0.000 0.098 3263 549 3385 3364 3406 0 0 0 0 0 0 14.60 14.01 14.62

1484 -0.39 -107.1 3263 549 3364 3407 139.0 -7.9 96 1495 0.00 2.55 0.00 0.000 1030 0.000 0.086 3264 1982 3385 3365 3406 0 0 0 0 0 0 14.22 14.08 14.26

1821 -0.39 -107.1 3263 1983 3363 3406 162.6 -6.9 106 1833 0.00 2.55 0.00 0.000 260 0.000 0.101 3264 3385 3384 3363 3406 0 0 0 0 0 0 14.61 13.97 14.63

1884 -0.39 -107.1 3263 3385 3363 3402 166.6 -6.2 116 1895 0.00 2.55 0.00 0.000 1030 0.000 0.083 3264 1968 3384 3363 3406 0 0 0 0 0 0 14.19 14.07 14.26

2207 -0.39 -107.1 3263 1968 3361 3407 185.7 -5.8 123 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1967 3383 3361 3406 0 0 0 0 0 0 14.64 14.64 14.65

2507 -0.39 -107.1 3263 1968 3360 3406 202.0 -5.5 128 2518 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1968 3384 3362 3406 0 0 0 0 0 0 14.62 14.63 14.62

2806 -0.39 -107.1 3263 1967 3360 3406 219.4 -5.9 133 2817 0.00 2.60 0.00 0.000 260 0.000 0.103 3264 3374 3383 3360 3406 0 0 0 0 0 0 14.64 13.98 14.66

2888 -0.39 -107.1 3263 3373 3359 3406 224.5 -6.5 147 2899 0.00 2.55 0.00 0.000 1030 0.000 0.088 3264 1973 3382 3359 3406 0 0 0 0 0 0 14.16 14.02 14.21

3256 -0.39 -107.1 3263 1972 3358 3406 248.3 -6.7 162 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 3264 1972 3382 3358 3406 0 0 0 0 0 0 14.64 14.66 14.66

3551 -0.39 -107.1 3263 1972 3359 3406 266.4 -5.9 167 3562 0.00 2.60 0.00 0.000 260 0.000 0.102 3264 3375 3385 3357 3413 0 0 0 0 0 0 14.63 13.95 14.64

3609 -0.39 -107.1 3263 3374 3357 3406 269.2 -4.9 176 3620 0.00 2.55 0.00 0.000 1030 0.000 0.085 3264 1956 3382 3357 3407 0 0 0 0 0 0 14.18 14.04 14.21

3872 end dive: TARGET_DEPTH_EXCEEDED

state 3872 begin apogee

3884 -0.16 0.0 3264 2248 3356 3406 283.1 -5.2 183 3976 0.25 0.00 83.62 1.054 10246 0.148 0.000 3345 2248 2941 2875 3007 0 0 0 0 0 0 13.98 14.06 13.33

3978 end apogee: CONTROL_FINISHED_OK

state 3978 begin climb

3984 0.39 107.1 3346 2249 2870 3004 285.1 0.0 184 4087 0.47 2.65 82.12 1.046 10500 0.106 0.103 3518 3659 2500 2374 2626 0 0 0 0 0 0 14.07 13.92 13.22

4129 0.43 107.1 3518 3659 2374 2624 281.6 5.3 210 4141 0.00 2.55 0.00 0.000 1030 0.000 0.083 3518 2253 2498 2374 2622 0 0 0 0 0 0 14.14 14.00 14.16

4496 0.45 152.1 3518 2253 2373 2624 263.1 5.3 225 4543 0.00 2.55 34.65 1.016 8708 0.000 0.098 3518 839 2318 2172 2464 0 0 0 0 0 0 14.54 13.97 13.45

4658 0.47 152.1 3518 839 2173 2462 252.6 6.6 255 4669 0.00 2.53 0.00 0.000 1030 0.000 0.089 3518 2248 2318 2174 2462 0 0 0 0 0 0 14.24 14.10 14.27

5006 0.50 152.1 3518 2248 2172 2462 232.7 5.7 266 5018 0.08 2.60 0.00 0.000 2308 0.153 0.102 3592 3665 2317 2172 2462 0 0 0 0 0 0 14.31 14.00 14.31

5116 0.50 152.1 3592 3664 2172 2461 222.8 9.7 285 5128 0.12 2.58 0.00 0.000 5126 0.221 0.086 3558 2237 2316 2172 2461 0 0 0 0 0 0 13.95 14.11 14.16

5462 0.52 152.1 3558 2236 2171 2460 201.4 6.1 295 5473 0.00 2.62 0.00 0.000 260 0.000 0.101 3558 3664 2316 2172 2461 0 0 0 0 0 0 14.63 14.05 14.65

5508 0.52 152.1 3555 3665 2172 2460 197.9 6.9 302 5520 0.00 2.55 0.00 0.000 1030 0.000 0.086 3563 2253 2316 2172 2460 0 0 0 0 0 0 14.26 14.10 14.30

5853 0.56 152.1 3558 2253 2171 2460 179.3 5.5 312 5864 0.00 2.58 0.00 0.000 516 0.000 0.100 3558 825 2315 2171 2460 0 0 0 0 0 0 14.59 14.02 14.59

5935 0.58 152.1 3557 824 2172 2457 174.1 6.4 326 5947 0.00 2.58 0.00 0.000 1030 0.000 0.090 3558 2263 2316 2171 2461 0 0 0 0 0 0 14.22 14.09 14.27

6304 0.61 152.1 3558 2260 2171 2460 153.3 5.6 341 6315 0.08 2.58 0.00 0.000 2308 0.147 0.102 3628 3662 2315 2171 2459 0 0 0 0 0 0 14.25 13.99 14.26

6411 0.61 152.1 3628 3662 2171 2458 143.9 9.6 359 6423 0.17 2.58 0.00 0.000 5126 0.212 0.086 3588 2238 2314 2171 2458 0 0 0 0 0 0 13.78 14.00 14.03

6760 0.63 152.1 3587 2239 2171 2458 119.9 6.7 370 6770 0.00 0.00 0.00 0.000 6 0.000 0.000 3588 2238 2314 2170 2459 0 0 0 0 0 0 14.62 14.64 14.66

7055 0.65 196.2 3587 2238 2171 2458 104.1 5.3 375 7096 0.00 0.00 33.80 0.851 8198 0.000 0.000 3587 2238 2136 1980 2292 0 0 0 0 0 0 14.62 14.21 13.58

7355 0.65 196.2 3587 2237 1981 2297 82.9 7.5 380 7366 0.00 2.62 0.00 0.000 260 0.000 0.103 3587 3663 2138 1981 2296 0 0 0 0 0 0 14.59 14.05 14.60

7422 0.65 196.2 3586 3663 1981 2294 77.9 7.3 391 7434 0.00 2.58 0.00 0.000 1030 0.000 0.086 3587 2238 2137 1981 2294 0 0 0 0 0 0 14.23 14.09 14.28

7729 0.67 196.2 3587 2237 1988 2294 58.6 6.2 397 7740 0.00 2.53 0.00 0.000 516 0.000 0.099 3587 844 2137 1981 2293 0 0 0 0 0 0 14.62 14.02 14.63

7806 0.70 247.2 3587 844 1982 2294 54.6 5.0 410 7858 0.08 2.53 37.90 0.793 11270 0.143 0.087 3647 2257 1929 1783 2076 0 0 0 0 0 0 14.04 13.97 13.62

8170 0.72 301.9 3647 2260 1782 2075 29.6 4.8 430 8223 0.00 2.60 40.17 0.770 8708 0.000 0.098 3647 842 1705 1553 1857 0 0 0 0 0 0 14.59 14.17 13.63

8348 0.72 301.9 3648 842 1553 1854 19.8 7.0 463 8359 0.00 2.53 0.00 0.000 1030 0.000 0.090 3650 2245 1704 1555 1854 0 0 0 0 0 0 14.22 14.07 14.27

8580 end climb: SURFACE_DEPTH_REACHED

state 8584 begin surface coast

8611 end surface coast: CONTROL_FINISHED_OK

state 8611 begin surface

ID	187	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
DIVE	537	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	ALTIM_SENSITIVITY	3
D_SURF	4	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_VALID	1
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_TGT	990	SM_CC	400	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1020	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.69999999
D_NO_BLEED	200	FILEMGR	0	VBD_MIN	470	DEEPGLIDER	0
D_BOOST	20	CALL_NDIVES	1	VBD_MAX	3900	MOTHERBOARD	4
T_BOOST	5	COMM_SEQ	0	C_VBD	2941	DEVICE1	-1
D_FINISH	0	PROTOCOL	8	VBD_DBAND	2	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00050000002	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_DIVE	450	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
T_MISSION	570	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_TURN	225	T_GPS	5	W_ADJ_DBAND	2	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	N_GPS	100440	DBDW	0	COMPASS2_DEVICE	149
T_NO_W	120	T_RSLEEP	2	PITCH_W_GAIN	2	PHONE_DEVICE	49
T_LOITER	0	STROBE	0	PITCH_W_DBAND	0.5	GPS_DEVICE	64
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	RAFOS_CORR_THRESH	60	AH0_24V	350	XPDR_DEVICE	24
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	100	MINV_24V	10	SIM_PITCH	0
D_OFFGRID	1000	PITCH_MAX	3850	MINV_10V	10	SEABIRD_T_G	0.0043979231
T_WATCHDOG	10	C_PITCH	3394	MAXI_24V	0.60000002	SEABIRD_T_H	0.00063691288
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_I	2.4734132e-05
APOGEE_PITCH	-7	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	2.9167527e-06
MAX_BUOY	110	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-9.67243
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1076213
GLIDE_SLOPE	30	PITCH_GAIN	44	PRESSURE_YINT	-164.55209	SEABIRD_C_I	-0.0017588359
SPEED_FACTOR	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001068	SEABIRD_C_J	0.00021615655
RHO	1.0275	PITCH_AD_RATE	165	AD7714Ch0Gain	1	SC_RECORDABOVE	2000.0
MASS	53572	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MIN	440	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
KALMAN_USE	2	ROLL_MAX	4000	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	1.0
HD_A	0.0026964601	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099003203	C_ROLL_DIVE	1970	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_C	2.26204e-06	C_ROLL_CLIMB	2250	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0

GPS1	131115,173540,4751.0767,-12513.3926,32,1.2,33,16.5,0.9,112.2,7,8.9	SPEED_LIMITS	0.127,0.207
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	1	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.90	MHEAD_RNG_PITCHd_Wd	94.3,4288,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-76.3	D_GRID	280
GPS2	131115,175027,4751.0312,-12513.4502,3,1.4,6,16.5,1.1,179.4,6,10.0

FINISH	0.1,1.024086	_10V_AH	12.70,0.000
SM_CCo	8642,40.97,0.083,0,0,1309,400.08	FG_AHR_24Vo	0.000
SM_GC	1.61,9.93,0.52,40.97,0.034,0.101,0.083,87,1961,1309,-10.27,0.51,400.08,0,0,0,0,0,0,14.25,14.18,14.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12513.98,131115,142729	MEM	286364
TT8_MAMPS	0.02247,0.02247	DATA_FILE_SIZE	16761,474
HUMID	51.10	CAP_FILE_SIZE	99576,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260034560,190820352
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.220,342.48,1
SC_FREEKB	3718656	GPS	131115,201701,4751.729,-12513.017,24,0.8,24,16.5,2.3,287.9,11,7.6
_24V_AH	12.40,151.787

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	370	118.91	nil	0	0	0.00
Roll_motor	78	102	99.24	nil	0	0	0.00
VBD_pump_during_apogee	312	1054	4081.97	nil	0	0	0.00
VBD_pump_during_surface	40	82	41.98	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	8684	7	823.33
Iridium_during_xfer	493	149	917.22	PMAR	198	8	20.01
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	15	1.56
TT8	944	10	130.42
LPSleep	6051	2	168.31
TT8_Active	469	10	64.84
TT8_Sampling	1500	29	564.20
TT8_CF8	596	35	269.79
TT8_Kalman	0	0	0.00
Analog_circuits	1634	11	240.75
GPS_charging	0	0	0.00
Compass	702	16	146.95
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
29	-0.39	-107.1	76	1954	1206	1420	0.0	0.0	0	111	0.00	0.00	-75.40	0.000	16390	0.000	0.000	74	1954	3380	3364	3396	0	0	0	0	0	0	14.50	12.40	14.47
119	-0.39	-107.1	74	1955	3366	3396	1.7	-2.7	2	148	14.73	2.53	0.00	0.000	2820	0.370	0.096	3263	564	3383	3367	3399	0	0	0	0	0	0	13.73	14.09	14.11
359	-0.39	-107.1	3263	564	3365	3403	50.0	-10.4	47	370	0.00	2.53	0.00	0.000	1030	0.000	0.086	3264	1970	3384	3366	3403	0	0	0	0	0	0	14.20	14.06	14.24
687	-0.39	-107.1	3263	1967	3365	3406	77.7	-8.3	55	698	0.00	2.60	0.00	0.000	260	0.000	0.101	3264	3390	3385	3365	3405	0	0	0	0	0	0	14.59	13.97	14.61
808	-0.39	-107.1	3263	3390	3365	3406	86.3	-7.2	76	819	0.00	2.53	0.00	0.000	1030	0.000	0.084	3264	1976	3388	3365	3411	0	0	0	0	0	0	14.21	14.07	14.26
1135	-0.39	-107.1	3263	1976	3360	3406	113.2	-8.2	84	1146	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1976	3385	3365	3406	0	0	0	0	0	0	14.61	14.63	14.65
1436	-0.39	-107.1	3263	1975	3365	3406	135.3	-7.3	89	1447	0.00	2.58	0.00	0.000	516	0.000	0.098	3263	549	3385	3364	3406	0	0	0	0	0	0	14.60	14.01	14.62
1484	-0.39	-107.1	3263	549	3364	3407	139.0	-7.9	96	1495	0.00	2.55	0.00	0.000	1030	0.000	0.086	3264	1982	3385	3365	3406	0	0	0	0	0	0	14.22	14.08	14.26
1821	-0.39	-107.1	3263	1983	3363	3406	162.6	-6.9	106	1833	0.00	2.55	0.00	0.000	260	0.000	0.101	3264	3385	3384	3363	3406	0	0	0	0	0	0	14.61	13.97	14.63
1884	-0.39	-107.1	3263	3385	3363	3402	166.6	-6.2	116	1895	0.00	2.55	0.00	0.000	1030	0.000	0.083	3264	1968	3384	3363	3406	0	0	0	0	0	0	14.19	14.07	14.26
2207	-0.39	-107.1	3263	1968	3361	3407	185.7	-5.8	123	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1967	3383	3361	3406	0	0	0	0	0	0	14.64	14.64	14.65
2507	-0.39	-107.1	3263	1968	3360	3406	202.0	-5.5	128	2518	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1968	3384	3362	3406	0	0	0	0	0	0	14.62	14.63	14.62
2806	-0.39	-107.1	3263	1967	3360	3406	219.4	-5.9	133	2817	0.00	2.60	0.00	0.000	260	0.000	0.103	3264	3374	3383	3360	3406	0	0	0	0	0	0	14.64	13.98	14.66
2888	-0.39	-107.1	3263	3373	3359	3406	224.5	-6.5	147	2899	0.00	2.55	0.00	0.000	1030	0.000	0.088	3264	1973	3382	3359	3406	0	0	0	0	0	0	14.16	14.02	14.21
3256	-0.39	-107.1	3263	1972	3358	3406	248.3	-6.7	162	3266	0.00	0.00	0.00	0.000	6	0.000	0.000	3264	1972	3382	3358	3406	0	0	0	0	0	0	14.64	14.66	14.66
3551	-0.39	-107.1	3263	1972	3359	3406	266.4	-5.9	167	3562	0.00	2.60	0.00	0.000	260	0.000	0.102	3264	3375	3385	3357	3413	0	0	0	0	0	0	14.63	13.95	14.64
3609	-0.39	-107.1	3263	3374	3357	3406	269.2	-4.9	176	3620	0.00	2.55	0.00	0.000	1030	0.000	0.085	3264	1956	3382	3357	3407	0	0	0	0	0	0	14.18	14.04	14.21
3872	end dive: TARGET_DEPTH_EXCEEDED
state	3872	begin apogee
3884	-0.16	0.0	3264	2248	3356	3406	283.1	-5.2	183	3976	0.25	0.00	83.62	1.054	10246	0.148	0.000	3345	2248	2941	2875	3007	0	0	0	0	0	0	13.98	14.06	13.33
3978	end apogee: CONTROL_FINISHED_OK
state	3978	begin climb
3984	0.39	107.1	3346	2249	2870	3004	285.1	0.0	184	4087	0.47	2.65	82.12	1.046	10500	0.106	0.103	3518	3659	2500	2374	2626	0	0	0	0	0	0	14.07	13.92	13.22
4129	0.43	107.1	3518	3659	2374	2624	281.6	5.3	210	4141	0.00	2.55	0.00	0.000	1030	0.000	0.083	3518	2253	2498	2374	2622	0	0	0	0	0	0	14.14	14.00	14.16
4496	0.45	152.1	3518	2253	2373	2624	263.1	5.3	225	4543	0.00	2.55	34.65	1.016	8708	0.000	0.098	3518	839	2318	2172	2464	0	0	0	0	0	0	14.54	13.97	13.45
4658	0.47	152.1	3518	839	2173	2462	252.6	6.6	255	4669	0.00	2.53	0.00	0.000	1030	0.000	0.089	3518	2248	2318	2174	2462	0	0	0	0	0	0	14.24	14.10	14.27
5006	0.50	152.1	3518	2248	2172	2462	232.7	5.7	266	5018	0.08	2.60	0.00	0.000	2308	0.153	0.102	3592	3665	2317	2172	2462	0	0	0	0	0	0	14.31	14.00	14.31
5116	0.50	152.1	3592	3664	2172	2461	222.8	9.7	285	5128	0.12	2.58	0.00	0.000	5126	0.221	0.086	3558	2237	2316	2172	2461	0	0	0	0	0	0	13.95	14.11	14.16
5462	0.52	152.1	3558	2236	2171	2460	201.4	6.1	295	5473	0.00	2.62	0.00	0.000	260	0.000	0.101	3558	3664	2316	2172	2461	0	0	0	0	0	0	14.63	14.05	14.65
5508	0.52	152.1	3555	3665	2172	2460	197.9	6.9	302	5520	0.00	2.55	0.00	0.000	1030	0.000	0.086	3563	2253	2316	2172	2460	0	0	0	0	0	0	14.26	14.10	14.30
5853	0.56	152.1	3558	2253	2171	2460	179.3	5.5	312	5864	0.00	2.58	0.00	0.000	516	0.000	0.100	3558	825	2315	2171	2460	0	0	0	0	0	0	14.59	14.02	14.59
5935	0.58	152.1	3557	824	2172	2457	174.1	6.4	326	5947	0.00	2.58	0.00	0.000	1030	0.000	0.090	3558	2263	2316	2171	2461	0	0	0	0	0	0	14.22	14.09	14.27
6304	0.61	152.1	3558	2260	2171	2460	153.3	5.6	341	6315	0.08	2.58	0.00	0.000	2308	0.147	0.102	3628	3662	2315	2171	2459	0	0	0	0	0	0	14.25	13.99	14.26
6411	0.61	152.1	3628	3662	2171	2458	143.9	9.6	359	6423	0.17	2.58	0.00	0.000	5126	0.212	0.086	3588	2238	2314	2171	2458	0	0	0	0	0	0	13.78	14.00	14.03
6760	0.63	152.1	3587	2239	2171	2458	119.9	6.7	370	6770	0.00	0.00	0.00	0.000	6	0.000	0.000	3588	2238	2314	2170	2459	0	0	0	0	0	0	14.62	14.64	14.66
7055	0.65	196.2	3587	2238	2171	2458	104.1	5.3	375	7096	0.00	0.00	33.80	0.851	8198	0.000	0.000	3587	2238	2136	1980	2292	0	0	0	0	0	0	14.62	14.21	13.58
7355	0.65	196.2	3587	2237	1981	2297	82.9	7.5	380	7366	0.00	2.62	0.00	0.000	260	0.000	0.103	3587	3663	2138	1981	2296	0	0	0	0	0	0	14.59	14.05	14.60
7422	0.65	196.2	3586	3663	1981	2294	77.9	7.3	391	7434	0.00	2.58	0.00	0.000	1030	0.000	0.086	3587	2238	2137	1981	2294	0	0	0	0	0	0	14.23	14.09	14.28
7729	0.67	196.2	3587	2237	1988	2294	58.6	6.2	397	7740	0.00	2.53	0.00	0.000	516	0.000	0.099	3587	844	2137	1981	2293	0	0	0	0	0	0	14.62	14.02	14.63
7806	0.70	247.2	3587	844	1982	2294	54.6	5.0	410	7858	0.08	2.53	37.90	0.793	11270	0.143	0.087	3647	2257	1929	1783	2076	0	0	0	0	0	0	14.04	13.97	13.62
8170	0.72	301.9	3647	2260	1782	2075	29.6	4.8	430	8223	0.00	2.60	40.17	0.770	8708	0.000	0.098	3647	842	1705	1553	1857	0	0	0	0	0	0	14.59	14.17	13.63
8348	0.72	301.9	3648	842	1553	1854	19.8	7.0	463	8359	0.00	2.53	0.00	0.000	1030	0.000	0.090	3650	2245	1704	1555	1854	0	0	0	0	0	0	14.22	14.07	14.27
8580	end climb: SURFACE_DEPTH_REACHED
state	8584	begin surface coast
8611	end surface coast: CONTROL_FINISHED_OK
state	8611	begin surface