Glider dive log

WA coast Jul17 * SG204 * Dive index * Mission links * Dive 62 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 35 ALTIM_PULSE 2

MISSION 19 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 26 ALTIM_SENSITIVITY 2

DIVE 62 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_SURF 2 SM_CC 400 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_TGT 660 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 4

D_ABORT 1020 CALL_NDIVES 1 C_VBD 2941 DEVICE1 -1

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE2 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 3

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 51

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 85

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_DIVE 220 HEAPDBG 0 W_ADJ_DBAND 0.5 COMPASS_DEVICE 33

T_MISSION 250 T_GPS 5 DBDW 0 COMPASS2_DEVICE 147

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 GPS_DEVICE 64

T_TURN_SAMPINT -5 STROBE 0 PITCH_W_GAIN 7 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_LOITER 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 SIM_PITCH 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_10V 97 SEABIRD_T_G 0.0043580476

USE_ICE 0 PITCH_MIN 210 MINV_24V 22 SEABIRD_T_H 0.00063004985

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

D_OFFGRID 1010 C_PITCH 3065 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

RELAUNCH 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

MAX_BUOY 175 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

COURSE_BIAS 0 PITCH_GAIN 22 PRESSURE_YINT -171.29309 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS 52433 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0044816299 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2500 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 SEABIRD_T_J 2.6474129e-06

AH0_24V 150 FERRY_MAX 45 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MIN 210 SM_CC 400

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0014 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 STROBE 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_GAIN 7 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 HD_A 0.0044816299 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 ID 204 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -171.29309 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_DIVE 220

CF8_MAXERRORS 20 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 3065 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2500 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 2200 MASS 52433 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 175 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 22 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 19 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 62 NOCOMM_ACTION 163 R_PORT_OVSHOOT 35 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 26 VBD_MIN 500

D_BOOST 50 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0.5

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_OFFGRID 1010 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 5

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043580476

D_TGT 660 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

Pre-dive calculations and measurements:

GPS1 150717,025609,4744.1460,-12507.9502,17,1.0,30,16.2,0.2,0.0,12,4.5 SPEED_LIMITS 0.173,0.203

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4742.000,-12512.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.32 MHEAD_RNG_PITCHd_Wd 220.6,6406,-22.2,-10.000,-26.19,2621

_SM_ANGLEo -70.7 D_GRID 450

GPS2 150717,030245,4744.1147,-12507.9326,3,1.0,6,16.2,0.3,147.7,11,8.6

Post-dive calculations and measurements:

FINISH 0.9,1.022546 PM_FREEKB_06 124834944

SM_CCo 8221,12.62,0.157,0,0,1308,400.08 PM_FREEKB_07 124834944

SM_GC 2.14,10.55,2.38,12.62,0.107,0.041,0.157,195,2196,1308,-8.88,0.93,400.08,0,0,0,0,0,0,26.27,26.13,25.41 PM_ACTIVECARD 1

IRIDIUM_FIX 4744.76,-12429.36,150717,010923 _24V_AH 23.56,6.458

TT8_MAMPS 0.048685,0.334054 _10V_AH 9.44,3.612

HUMID 50.78 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 8.64718 FG_AHR_10Vo 0.000

TCM_TEMP 13.10 MEM 278108

XPDR_PINGS 1 DATA_FILE_SIZE 20053,637

PM_FREEKB_00 124650816 CAP_FILE_SIZE 75213,0

PM_FREEKB_01 94155136 CFSIZE 260030464,254967808

PM_FREEKB_02 124834944 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

PM_FREEKB_03 124834880 CURRENT 0.052,156.21,1

PM_FREEKB_04 124834944 GPS 150717,052131,4743.717,-12508.848,38,1.3,38,16.2,0.3,0.0,10,7.5

PM_FREEKB_05 124834944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 264 159.33 nil 0 0 0.00

Roll_motor 57 1243 1685.53 nil 0 0 0.00

VBD_pump_during_apogee 535 756 9548.93 nil 0 0 0.00

VBD_pump_during_surface 12 156 46.65 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 8176 4 876.45

Iridium_during_xfer 278 99 653.59 PMAR 8185 24 4748.84

Transponder_ping 0 420 2.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 12 0.98

TT8 0 0 0.00

LPSleep 6184 2 127.85

TT8_Active 642 13 80.80

TT8_Sampling 1725 44 717.37

TT8_CF8 88 55 46.32

TT8_Kalman 0 0 0.00

Analog_circuits 1453 11 156.42

GPS_charging 0 0 0.00

Compass 1108 8 86.22

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -1.25 -170.3 189 2196 1286 1089 0.0 0.0 0 79 0.00 0.00 -63.97 0.000 16386 0.000 0.000 188 2196 2756 2717 2796 0 0 0 0 0 0 26.68 28.83 26.74

80 -1.25 -170.3 189 2196 2716 2796 3.6 -6.8 6 116 11.77 2.55 -17.77 0.000 18724 0.265 1.243 2648 3601 3638 3604 3672 0 0 0 0 0 0 24.82 24.07 25.37

340 -1.25 -170.3 2648 3602 3611 3672 53.9 -16.9 58 346 0.00 2.22 0.00 0.000 1030 0.000 0.044 2656 2197 3640 3608 3672 0 0 0 0 0 0 26.15 26.11 26.20

651 -1.25 -170.3 2655 2195 3614 3673 97.3 -13.8 70 656 0.00 2.22 0.00 0.000 516 0.000 0.054 2667 789 3642 3613 3672 0 0 0 0 0 0 26.96 25.80 27.02

870 -1.25 -170.3 2667 789 3615 3672 126.7 -13.2 114 876 0.00 2.22 0.00 0.000 1030 0.000 0.041 2658 2199 3642 3613 3672 0 0 0 0 0 0 26.11 26.07 26.16

1191 -1.25 -170.3 2658 2199 3615 3672 168.8 -12.7 128 1196 0.00 2.28 0.00 0.000 260 0.000 0.067 2648 3601 3642 3613 3672 0 0 0 0 0 0 27.04 25.61 27.10

1420 -1.25 -170.3 2650 3602 3614 3675 198.5 -12.4 174 1426 0.00 2.22 0.00 0.000 1030 0.000 0.044 2656 2191 3642 3613 3672 0 0 0 0 0 0 26.20 26.16 26.25

1731 -1.25 -170.3 2656 2191 3614 3673 235.2 -11.9 186 1736 0.00 2.30 0.00 0.000 260 0.000 0.066 2647 3602 3642 3613 3672 0 0 0 0 0 0 27.06 25.61 27.12

1920 -1.25 -170.3 2648 3602 3614 3671 260.4 -13.5 224 1926 0.00 2.20 0.00 0.000 1030 0.000 0.044 2656 2201 3642 3613 3671 0 0 0 0 0 0 26.18 26.15 26.22

2271 -1.25 -170.3 2656 2199 3614 3671 304.9 -12.6 239 2276 0.00 2.28 0.00 0.000 260 0.000 0.063 2647 3604 3642 3613 3671 0 0 0 0 0 0 27.06 25.60 27.13

2375 -1.25 -170.3 2647 3603 3615 3670 319.3 -13.8 260 2381 0.00 2.20 0.00 0.000 1030 0.000 0.044 2656 2203 3641 3613 3670 0 0 0 0 0 0 26.17 26.13 26.21

2691 -1.25 -170.3 2656 2201 3614 3669 360.6 -12.9 268 2696 0.00 2.28 0.00 0.000 260 0.000 0.063 2647 3602 3641 3613 3669 0 0 0 0 0 0 27.06 25.57 27.12

2801 -1.25 -170.3 2648 3602 3614 3668 375.8 -13.9 290 2806 0.00 2.20 0.00 0.000 1030 0.000 0.044 2656 2201 3640 3613 3668 0 0 0 0 0 0 26.15 26.12 26.19

3111 -1.25 -170.3 2656 2200 3614 3668 417.5 -13.5 297 3117 0.00 2.28 0.00 0.000 260 0.000 0.063 2648 3602 3641 3615 3667 0 0 0 0 0 0 27.06 25.53 27.13

3172 -1.25 -170.3 2648 3602 3614 3667 426.4 -14.3 309 3178 0.00 2.17 0.00 0.000 1030 0.000 0.043 2656 2196 3640 3613 3667 0 0 0 0 0 0 26.19 26.10 26.23

3351 end dive: TARGET_DEPTH_EXCEEDED

state 3351 begin apogee

3354 -0.23 0.0 2657 2505 3614 3667 451.2 -13.7 323 3549 1.30 0.00 191.15 0.757 10246 0.188 0.000 2985 2506 2937 3009 2866 0 0 0 0 0 0 24.08 24.66 23.72

3551 end apogee: CONTROL_FINISHED_OK

state 3551 begin climb

3552 1.25 170.3 2985 2508 3004 2860 462.7 0.0 326 3753 1.65 2.05 191.75 0.714 10500 0.142 0.068 3447 3675 2233 2317 2150 0 0 0 0 0 0 24.85 24.57 23.56

3827 1.27 186.0 3447 3676 2299 2139 451.9 9.4 363 3845 0.00 1.88 13.80 0.724 9254 0.000 0.037 3454 2490 2181 2262 2100 0 0 0 0 0 0 25.85 25.82 24.03

4195 1.27 186.0 3454 2491 2239 2082 415.9 10.1 381 4200 0.00 2.17 0.00 0.000 516 0.000 0.047 3464 1098 2159 2238 2081 0 0 0 0 0 0 26.79 25.96 26.85

4324 1.27 186.0 3465 1098 2237 2081 401.7 10.7 407 4330 0.00 2.22 0.00 0.000 1030 0.000 0.044 3456 2490 2157 2235 2080 0 0 0 0 0 0 26.08 26.03 26.14

4675 1.27 186.0 3456 2492 2235 2081 367.7 9.6 422 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2491 2157 2234 2080 0 0 0 0 0 0 26.96 27.03 27.03

4975 1.27 186.0 3456 2490 2234 2078 336.1 10.6 427 4976 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2491 2156 2233 2079 0 0 0 0 0 0 27.00 27.08 27.07

5275 1.27 186.0 3457 2490 2234 2078 303.0 11.1 432 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2491 2155 2232 2078 0 0 0 0 0 0 27.02 27.09 27.08

5575 1.27 186.0 3456 2492 2233 2079 268.6 11.5 437 5576 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2491 2154 2232 2077 0 0 0 0 0 0 27.04 27.10 27.10

5875 1.29 198.7 3456 2491 2233 2078 238.9 9.5 443 5886 0.00 0.00 10.25 0.659 8230 0.000 0.000 3456 2491 2130 2209 2052 0 0 0 0 0 0 27.05 25.58 24.72

6175 1.31 213.3 3456 2491 2190 2040 210.5 9.4 453 6202 0.00 2.25 16.67 0.640 8740 0.000 0.045 3464 1098 2062 2146 1979 0 0 0 0 1 0 26.98 25.55 24.13

6245 1.31 213.3 3464 1099 2144 1977 203.3 10.5 467 6252 0.00 2.22 0.00 0.000 1030 0.000 0.041 3456 2505 2058 2142 1975 0 0 0 0 0 0 26.20 26.15 26.25

6566 1.31 213.3 3456 2505 2138 1972 170.1 10.5 481 6567 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2505 2054 2137 1972 0 0 0 0 0 0 26.94 27.02 27.01

6867 1.31 213.3 3456 2506 2137 1973 137.0 10.9 491 6871 0.00 1.92 0.00 0.000 260 0.000 0.067 3447 3683 2054 2136 1972 0 0 0 0 0 0 27.00 25.37 27.07

7061 1.31 213.3 3447 3685 2136 1973 115.5 10.7 530 7066 0.00 1.83 0.00 0.000 1030 0.000 0.041 3452 2510 2054 2137 1971 0 0 0 0 0 0 26.29 26.26 26.34

7376 1.36 254.2 3454 2510 2137 1971 86.8 8.4 543 7428 0.15 2.22 41.15 0.596 10788 0.122 0.044 3522 1096 1901 1991 1812 0 0 0 0 1 0 26.57 24.95 24.36

7472 1.36 254.2 3522 1097 1993 1814 75.3 13.4 562 7478 0.00 2.22 0.00 0.000 1030 0.000 0.040 3522 2497 1902 1992 1812 0 0 0 0 0 0 26.08 26.03 26.13

7777 1.36 254.2 3523 2497 1993 1813 38.4 11.9 583 7778 0.00 0.00 0.00 0.000 6 0.000 0.000 3522 2497 1902 1992 1813 0 0 0 0 0 0 26.88 26.95 26.94

8078 1.54 378.9 3522 2496 1993 1813 11.0 5.1 613 8153 0.12 2.05 70.93 0.168 11044 0.150 0.075 3557 3687 1391 1501 1282 0 0 0 0 0 0 26.42 25.72 25.51

8192 end climb: SURFACE_DEPTH_REACHED

state 8192 begin surface coast

8202 end surface coast: CONTROL_FINISHED_OK

state 8202 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	35	ALTIM_PULSE	2
MISSION	19	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2
DIVE	62	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_SURF	2	SM_CC	400	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_TGT	660	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	4
D_ABORT	1020	CALL_NDIVES	1	C_VBD	2941	DEVICE1	-1
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE2	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	3
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	51
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	85
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_DIVE	220	HEAPDBG	0	W_ADJ_DBAND	0.5	COMPASS_DEVICE	33
T_MISSION	250	T_GPS	5	DBDW	0	COMPASS2_DEVICE	147
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	GPS_DEVICE	64
T_TURN_SAMPINT	-5	STROBE	0	PITCH_W_GAIN	7	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_LOITER	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	SIM_PITCH	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_10V	97	SEABIRD_T_G	0.0043580476
USE_ICE	0	PITCH_MIN	210	MINV_24V	22	SEABIRD_T_H	0.00063004985
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
D_OFFGRID	1010	C_PITCH	3065	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
RELAUNCH	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
MAX_BUOY	175	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
COURSE_BIAS	0	PITCH_GAIN	22	PRESSURE_YINT	-171.29309	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS	52433	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0044816299	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2500	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13

GPS1	150717,025609,4744.1460,-12507.9502,17,1.0,30,16.2,0.2,0.0,12,4.5	SPEED_LIMITS	0.173,0.203
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4742.000,-12512.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.32	MHEAD_RNG_PITCHd_Wd	220.6,6406,-22.2,-10.000,-26.19,2621
_SM_ANGLEo	-70.7	D_GRID	450
GPS2	150717,030245,4744.1147,-12507.9326,3,1.0,6,16.2,0.3,147.7,11,8.6

FINISH	0.9,1.022546	PM_FREEKB_06	124834944
SM_CCo	8221,12.62,0.157,0,0,1308,400.08	PM_FREEKB_07	124834944
SM_GC	2.14,10.55,2.38,12.62,0.107,0.041,0.157,195,2196,1308,-8.88,0.93,400.08,0,0,0,0,0,0,26.27,26.13,25.41	PM_ACTIVECARD	1
IRIDIUM_FIX	4744.76,-12429.36,150717,010923	_24V_AH	23.56,6.458
TT8_MAMPS	0.048685,0.334054	_10V_AH	9.44,3.612
HUMID	50.78	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	8.64718	FG_AHR_10Vo	0.000
TCM_TEMP	13.10	MEM	278108
XPDR_PINGS	1	DATA_FILE_SIZE	20053,637
PM_FREEKB_00	124650816	CAP_FILE_SIZE	75213,0
PM_FREEKB_01	94155136	CFSIZE	260030464,254967808
PM_FREEKB_02	124834944	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
PM_FREEKB_03	124834880	CURRENT	0.052,156.21,1
PM_FREEKB_04	124834944	GPS	150717,052131,4743.717,-12508.848,38,1.3,38,16.2,0.3,0.0,10,7.5
PM_FREEKB_05	124834944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	264	159.33	nil	0	0	0.00
Roll_motor	57	1243	1685.53	nil	0	0	0.00
VBD_pump_during_apogee	535	756	9548.93	nil	0	0	0.00
VBD_pump_during_surface	12	156	46.65	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	8176	4	876.45
Iridium_during_xfer	278	99	653.59	PMAR	8185	24	4748.84
Transponder_ping	0	420	2.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	12	0.98
TT8	0	0	0.00
LPSleep	6184	2	127.85
TT8_Active	642	13	80.80
TT8_Sampling	1725	44	717.37
TT8_CF8	88	55	46.32
TT8_Kalman	0	0	0.00
Analog_circuits	1453	11	156.42
GPS_charging	0	0	0.00
Compass	1108	8	86.22
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-1.25	-170.3	189	2196	1286	1089	0.0	0.0	0	79	0.00	0.00	-63.97	0.000	16386	0.000	0.000	188	2196	2756	2717	2796	0	0	0	0	0	0	26.68	28.83	26.74
80	-1.25	-170.3	189	2196	2716	2796	3.6	-6.8	6	116	11.77	2.55	-17.77	0.000	18724	0.265	1.243	2648	3601	3638	3604	3672	0	0	0	0	0	0	24.82	24.07	25.37
340	-1.25	-170.3	2648	3602	3611	3672	53.9	-16.9	58	346	0.00	2.22	0.00	0.000	1030	0.000	0.044	2656	2197	3640	3608	3672	0	0	0	0	0	0	26.15	26.11	26.20
651	-1.25	-170.3	2655	2195	3614	3673	97.3	-13.8	70	656	0.00	2.22	0.00	0.000	516	0.000	0.054	2667	789	3642	3613	3672	0	0	0	0	0	0	26.96	25.80	27.02
870	-1.25	-170.3	2667	789	3615	3672	126.7	-13.2	114	876	0.00	2.22	0.00	0.000	1030	0.000	0.041	2658	2199	3642	3613	3672	0	0	0	0	0	0	26.11	26.07	26.16
1191	-1.25	-170.3	2658	2199	3615	3672	168.8	-12.7	128	1196	0.00	2.28	0.00	0.000	260	0.000	0.067	2648	3601	3642	3613	3672	0	0	0	0	0	0	27.04	25.61	27.10
1420	-1.25	-170.3	2650	3602	3614	3675	198.5	-12.4	174	1426	0.00	2.22	0.00	0.000	1030	0.000	0.044	2656	2191	3642	3613	3672	0	0	0	0	0	0	26.20	26.16	26.25
1731	-1.25	-170.3	2656	2191	3614	3673	235.2	-11.9	186	1736	0.00	2.30	0.00	0.000	260	0.000	0.066	2647	3602	3642	3613	3672	0	0	0	0	0	0	27.06	25.61	27.12
1920	-1.25	-170.3	2648	3602	3614	3671	260.4	-13.5	224	1926	0.00	2.20	0.00	0.000	1030	0.000	0.044	2656	2201	3642	3613	3671	0	0	0	0	0	0	26.18	26.15	26.22
2271	-1.25	-170.3	2656	2199	3614	3671	304.9	-12.6	239	2276	0.00	2.28	0.00	0.000	260	0.000	0.063	2647	3604	3642	3613	3671	0	0	0	0	0	0	27.06	25.60	27.13
2375	-1.25	-170.3	2647	3603	3615	3670	319.3	-13.8	260	2381	0.00	2.20	0.00	0.000	1030	0.000	0.044	2656	2203	3641	3613	3670	0	0	0	0	0	0	26.17	26.13	26.21
2691	-1.25	-170.3	2656	2201	3614	3669	360.6	-12.9	268	2696	0.00	2.28	0.00	0.000	260	0.000	0.063	2647	3602	3641	3613	3669	0	0	0	0	0	0	27.06	25.57	27.12
2801	-1.25	-170.3	2648	3602	3614	3668	375.8	-13.9	290	2806	0.00	2.20	0.00	0.000	1030	0.000	0.044	2656	2201	3640	3613	3668	0	0	0	0	0	0	26.15	26.12	26.19
3111	-1.25	-170.3	2656	2200	3614	3668	417.5	-13.5	297	3117	0.00	2.28	0.00	0.000	260	0.000	0.063	2648	3602	3641	3615	3667	0	0	0	0	0	0	27.06	25.53	27.13
3172	-1.25	-170.3	2648	3602	3614	3667	426.4	-14.3	309	3178	0.00	2.17	0.00	0.000	1030	0.000	0.043	2656	2196	3640	3613	3667	0	0	0	0	0	0	26.19	26.10	26.23
3351	end dive: TARGET_DEPTH_EXCEEDED
state	3351	begin apogee
3354	-0.23	0.0	2657	2505	3614	3667	451.2	-13.7	323	3549	1.30	0.00	191.15	0.757	10246	0.188	0.000	2985	2506	2937	3009	2866	0	0	0	0	0	0	24.08	24.66	23.72
3551	end apogee: CONTROL_FINISHED_OK
state	3551	begin climb
3552	1.25	170.3	2985	2508	3004	2860	462.7	0.0	326	3753	1.65	2.05	191.75	0.714	10500	0.142	0.068	3447	3675	2233	2317	2150	0	0	0	0	0	0	24.85	24.57	23.56
3827	1.27	186.0	3447	3676	2299	2139	451.9	9.4	363	3845	0.00	1.88	13.80	0.724	9254	0.000	0.037	3454	2490	2181	2262	2100	0	0	0	0	0	0	25.85	25.82	24.03
4195	1.27	186.0	3454	2491	2239	2082	415.9	10.1	381	4200	0.00	2.17	0.00	0.000	516	0.000	0.047	3464	1098	2159	2238	2081	0	0	0	0	0	0	26.79	25.96	26.85
4324	1.27	186.0	3465	1098	2237	2081	401.7	10.7	407	4330	0.00	2.22	0.00	0.000	1030	0.000	0.044	3456	2490	2157	2235	2080	0	0	0	0	0	0	26.08	26.03	26.14
4675	1.27	186.0	3456	2492	2235	2081	367.7	9.6	422	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2491	2157	2234	2080	0	0	0	0	0	0	26.96	27.03	27.03
4975	1.27	186.0	3456	2490	2234	2078	336.1	10.6	427	4976	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2491	2156	2233	2079	0	0	0	0	0	0	27.00	27.08	27.07
5275	1.27	186.0	3457	2490	2234	2078	303.0	11.1	432	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2491	2155	2232	2078	0	0	0	0	0	0	27.02	27.09	27.08
5575	1.27	186.0	3456	2492	2233	2079	268.6	11.5	437	5576	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2491	2154	2232	2077	0	0	0	0	0	0	27.04	27.10	27.10
5875	1.29	198.7	3456	2491	2233	2078	238.9	9.5	443	5886	0.00	0.00	10.25	0.659	8230	0.000	0.000	3456	2491	2130	2209	2052	0	0	0	0	0	0	27.05	25.58	24.72
6175	1.31	213.3	3456	2491	2190	2040	210.5	9.4	453	6202	0.00	2.25	16.67	0.640	8740	0.000	0.045	3464	1098	2062	2146	1979	0	0	0	0	1	0	26.98	25.55	24.13
6245	1.31	213.3	3464	1099	2144	1977	203.3	10.5	467	6252	0.00	2.22	0.00	0.000	1030	0.000	0.041	3456	2505	2058	2142	1975	0	0	0	0	0	0	26.20	26.15	26.25
6566	1.31	213.3	3456	2505	2138	1972	170.1	10.5	481	6567	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2505	2054	2137	1972	0	0	0	0	0	0	26.94	27.02	27.01
6867	1.31	213.3	3456	2506	2137	1973	137.0	10.9	491	6871	0.00	1.92	0.00	0.000	260	0.000	0.067	3447	3683	2054	2136	1972	0	0	0	0	0	0	27.00	25.37	27.07
7061	1.31	213.3	3447	3685	2136	1973	115.5	10.7	530	7066	0.00	1.83	0.00	0.000	1030	0.000	0.041	3452	2510	2054	2137	1971	0	0	0	0	0	0	26.29	26.26	26.34
7376	1.36	254.2	3454	2510	2137	1971	86.8	8.4	543	7428	0.15	2.22	41.15	0.596	10788	0.122	0.044	3522	1096	1901	1991	1812	0	0	0	0	1	0	26.57	24.95	24.36
7472	1.36	254.2	3522	1097	1993	1814	75.3	13.4	562	7478	0.00	2.22	0.00	0.000	1030	0.000	0.040	3522	2497	1902	1992	1812	0	0	0	0	0	0	26.08	26.03	26.13
7777	1.36	254.2	3523	2497	1993	1813	38.4	11.9	583	7778	0.00	0.00	0.00	0.000	6	0.000	0.000	3522	2497	1902	1992	1813	0	0	0	0	0	0	26.88	26.95	26.94
8078	1.54	378.9	3522	2496	1993	1813	11.0	5.1	613	8153	0.12	2.05	70.93	0.168	11044	0.150	0.075	3557	3687	1391	1501	1282	0	0	0	0	0	0	26.42	25.72	25.51
8192	end climb: SURFACE_DEPTH_REACHED
state	8192	begin surface coast
8202	end surface coast: CONTROL_FINISHED_OK
state	8202	begin surface