Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 671 * 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 671 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 34 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 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 8 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 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1595285.1 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 -1595285.1

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 34 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DIVE 671 N_FILEKB 8 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 49 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 071214,124906,4755.113,-12515.887,37,1.4,37,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 2 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.33 MHEAD_RNG_PITCHd_Wd 125.0,9422,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -70.6 D_GRID 250

GPS2 071214,125932,4755.237,-12516.032,16,1.7,16,18.8

Post-dive calculations and measurements:

FINISH 1.3,1.010525 _10V_AH 13.1,0.000

SM_CCo 6560,27.58,0.091,0,0,1329,375.06 FG_AHR_24Vo 0.000

SM_GC 2.66,8.93,0.12,27.58,0.049,0.152,0.091,388,2413,1329,-9.11,-0.74,375.06,0,0,0,0,0,0,14.25,14.29,14.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12520.31,071214,121244 MEM 290836

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20105,617

HUMID 50.51 CAP_FILE_SIZE 116445,0

INTERNAL_PRESSURE 9.01087 CFSIZE 260034560,189054976

TCM_TEMP 19.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,6395.99,0x2378ba,7,5

SC_FREEKB 3723296 CURRENT 0.188,325.4,1

PM_FREEKB 42360160 GPS 071214,145115,4755.196,-12515.990,13,2.6,33,18.8

_24V_AH 13.3,166.452

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 358 108.68 nil 0 0 0.00

Roll_motor 65 189 164.27 nil 0 0 0.00

VBD_pump_during_apogee 335 970 4333.86 nil 0 0 0.00

VBD_pump_during_surface 27 91 33.39 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 6553 8 697.67

Iridium_during_xfer 274 160 586.03 PMAR 95 4 6.25

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 22 5.20

TT8 1486 10 199.03

LPSleep 3262 2 93.58

TT8_Active 528 10 70.72

TT8_Sampling 1407 28 533.83

TT8_CF8 524 35 245.34

TT8_Kalman 0 0 0.00

Analog_circuits 1466 10 192.09

GPS_charging 0 0 0.00

Compass 958 0 9.42

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.59 -116.8 389 2404 1443 1219 0.0 0.0 0 92 0.00 0.00 -58.15 0.000 16386 0.000 0.000 390 2404 2827 2886 2768 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.59 -116.8 390 2404 2886 2773 3.4 -2.5 6 131 12.38 0.00 -10.15 0.000 18950 0.359 0.000 3121 2404 3340 3382 3299 0 0 0 0 0 0 13.71 28.83 14.53

372 -0.59 -116.8 3121 2403 3383 3297 47.4 -14.2 34 383 0.00 2.53 0.00 0.000 260 0.000 0.084 3121 3816 3340 3384 3297 0 0 0 0 0 0 28.83 14.07 28.83

454 -0.59 -116.8 3121 3816 3383 3297 57.9 -12.1 42 464 0.00 2.45 0.00 0.000 1030 0.000 0.059 3121 2402 3340 3383 3297 0 0 0 0 0 0 28.83 14.16 28.83

705 -0.59 -116.8 3121 2400 3384 3297 85.7 -10.3 67 716 0.00 2.47 0.00 0.000 516 0.000 0.070 3121 985 3340 3384 3297 0 0 0 0 0 0 28.83 14.04 28.83

738 -0.59 -116.8 3121 984 3391 3298 89.0 -10.6 70 749 0.00 2.50 0.00 0.000 1030 0.000 0.067 3121 2396 3340 3384 3297 0 0 0 0 0 0 28.83 14.11 28.83

990 -0.59 -116.8 3121 2396 3390 3297 114.1 -8.8 95 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2396 3340 3384 3297 0 0 0 0 0 0 28.83 28.83 28.83

1240 -0.59 -116.8 3121 2396 3385 3299 134.9 -8.2 120 1251 0.00 2.53 0.00 0.000 260 0.000 0.083 3121 3820 3341 3385 3298 0 0 0 0 0 0 28.83 14.00 28.83

1303 -0.59 -116.8 3121 3825 3385 3297 139.7 -8.0 126 1314 0.00 2.45 0.00 0.000 1030 0.000 0.057 3121 2395 3341 3384 3298 0 0 0 0 0 0 28.83 14.16 28.83

1556 -0.59 -116.8 3121 2390 3385 3298 160.1 -7.7 151 1565 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2394 3341 3385 3298 0 0 0 0 0 0 28.83 28.83 28.83

1807 -0.59 -116.8 3121 2387 3385 3297 180.7 -7.8 176 1818 0.00 2.58 0.00 0.000 260 0.000 0.086 3121 3815 3340 3385 3296 0 0 0 0 0 0 28.83 14.03 28.83

1869 -0.59 -116.8 3121 3815 3384 3298 186.3 -8.9 182 1880 0.00 2.47 0.00 0.000 1030 0.000 0.060 3121 2405 3341 3385 3298 0 0 0 0 0 0 28.83 14.17 28.83

2121 -0.59 -116.8 3121 2403 3385 3298 207.8 -8.8 207 2131 0.00 2.53 0.00 0.000 260 0.000 0.083 3121 3812 3341 3385 3297 0 0 0 0 0 0 28.83 14.06 28.83

2192 -0.59 -116.8 3121 3812 3384 3297 214.4 -9.2 214 2203 0.00 2.47 0.00 0.000 1030 0.000 0.059 3122 2388 3341 3385 3298 0 0 0 0 0 0 28.83 14.16 28.83

2443 -0.59 -116.8 3121 2382 3384 3298 235.7 -8.2 239 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2382 3341 3385 3298 0 0 0 0 0 0 28.83 28.83 28.83

2639 end dive: TARGET_DEPTH_EXCEEDED

state 2639 begin apogee

2650 -0.25 0.0 3121 2313 3385 3297 250.4 -7.7 259 2752 0.40 0.00 94.20 0.970 10246 0.174 0.000 3238 2313 2855 2929 2782 0 0 0 0 0 0 13.90 28.83 13.34

2754 end apogee: CONTROL_FINISHED_OK

state 2754 begin climb

2760 0.59 116.8 3238 2313 2928 2779 254.7 0.0 262 2863 0.82 0.00 94.32 0.951 10246 0.118 0.000 3512 2313 2378 2507 2250 0 0 0 0 0 0 14.07 28.83 13.28

3154 0.65 194.6 3512 2313 2505 2247 244.2 4.1 284 3225 0.00 2.53 61.08 0.951 8708 0.000 0.076 3519 924 2063 2209 1917 0 0 0 0 0 0 28.83 14.16 13.41

3286 0.68 194.6 3519 924 2209 1918 238.0 5.8 297 3297 0.00 2.47 0.00 0.000 1030 0.000 0.068 3519 2334 2063 2209 1918 0 0 0 0 0 0 28.83 14.15 28.83

3538 0.69 194.6 3519 2333 2210 1918 222.3 6.5 322 3549 0.00 2.50 0.00 0.000 260 0.000 0.084 3519 3742 2063 2209 1918 0 0 0 0 0 0 28.83 14.11 28.83

3611 0.69 194.6 3519 3741 2208 1918 217.0 7.5 329 3622 0.00 2.45 0.00 0.000 1030 0.000 0.063 3519 2343 2063 2209 1918 0 0 0 0 0 0 28.83 14.22 28.83

3864 0.69 194.6 3522 2339 2209 1918 198.8 8.4 354 3875 0.00 2.50 0.00 0.000 516 0.000 0.076 3519 915 2063 2209 1918 0 0 0 0 0 0 28.83 14.13 28.83

3935 0.69 194.6 3519 915 2209 1918 192.6 8.3 361 3947 0.00 2.47 0.00 0.000 1030 0.000 0.067 3520 2331 2063 2209 1918 0 0 0 0 0 0 28.83 14.18 28.83

4189 0.69 194.6 3519 2330 2209 1920 171.8 8.2 386 4200 0.00 2.53 0.00 0.000 260 0.000 0.084 3519 3749 2065 2213 1918 0 0 0 0 0 0 28.83 14.12 28.83

4260 0.69 194.6 3524 3749 2209 1918 165.5 8.9 393 4272 0.00 2.50 0.00 0.000 1030 0.000 0.061 3519 2318 2063 2209 1918 0 0 0 0 0 0 28.83 14.19 28.83

4513 0.69 194.6 3519 2318 2209 1918 146.5 7.2 418 4524 0.00 2.47 0.00 0.000 516 0.000 0.076 3519 912 2063 2209 1918 0 0 0 0 0 0 28.83 14.07 28.83

4585 0.69 194.6 3516 914 2209 1918 141.3 7.3 425 4597 0.00 2.50 0.00 0.000 1030 0.000 0.067 3519 2344 2063 2209 1918 0 0 0 0 0 0 28.83 14.15 28.83

4840 0.72 194.6 3520 2341 2209 1918 123.6 6.1 450 4851 0.12 0.00 0.00 0.000 2054 0.138 0.000 3587 2341 2063 2209 1918 0 0 0 0 0 0 14.23 28.83 28.83

5091 0.72 194.6 3587 2341 2209 1919 102.5 7.9 475 5103 0.12 2.55 0.00 0.000 4612 0.226 0.071 3562 917 2063 2209 1918 0 0 0 0 0 0 14.02 14.09 28.83

5179 0.75 246.1 3562 917 2209 1919 97.9 5.2 483 5233 0.00 2.50 40.25 0.801 9222 0.000 0.068 3559 2340 1851 1993 1710 0 0 0 0 0 0 28.83 14.14 13.59

5477 0.75 246.1 3562 2337 1995 1711 78.5 7.5 513 5487 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2336 1852 1993 1711 0 0 0 0 0 0 28.83 28.83 28.83

5728 0.75 246.1 3562 2336 1993 1711 55.1 8.1 538 5739 0.00 2.53 0.00 0.000 260 0.000 0.084 3562 3738 1852 1993 1712 0 0 0 0 0 0 28.83 14.09 28.83

5855 0.75 246.1 3561 3738 1993 1712 45.8 7.0 550 5866 0.00 2.45 0.00 0.000 1030 0.000 0.061 3561 2325 1852 1993 1712 0 0 0 0 0 0 28.83 14.17 28.83

6106 0.78 246.1 3563 2324 1993 1712 30.3 5.8 575 6117 0.00 2.47 0.00 0.000 516 0.000 0.076 3562 920 1852 1993 1712 0 0 0 0 0 0 28.83 14.09 28.83

6159 0.83 310.2 3563 920 1993 1712 27.8 4.6 580 6218 0.00 2.47 46.08 0.708 9222 0.000 0.067 3562 2328 1590 1738 1442 0 0 0 0 0 0 28.83 14.16 13.64

6464 0.83 310.2 3562 2328 1737 1442 6.5 8.5 610 6474 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2333 1589 1738 1441 0 0 0 0 0 0 28.83 28.83 28.83

6490 end climb: SURFACE_DEPTH_REACHED

state 6490 begin surface coast

6531 end surface coast: CONTROL_FINISHED_OK

state 6531 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	671	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	34	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	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	8	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	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1595285.1	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	071214,124906,4755.113,-12515.887,37,1.4,37,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	2	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.33	MHEAD_RNG_PITCHd_Wd	125.0,9422,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-70.6	D_GRID	250
GPS2	071214,125932,4755.237,-12516.032,16,1.7,16,18.8

FINISH	1.3,1.010525	_10V_AH	13.1,0.000
SM_CCo	6560,27.58,0.091,0,0,1329,375.06	FG_AHR_24Vo	0.000
SM_GC	2.66,8.93,0.12,27.58,0.049,0.152,0.091,388,2413,1329,-9.11,-0.74,375.06,0,0,0,0,0,0,14.25,14.29,14.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12520.31,071214,121244	MEM	290836
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20105,617
HUMID	50.51	CAP_FILE_SIZE	116445,0
INTERNAL_PRESSURE	9.01087	CFSIZE	260034560,189054976
TCM_TEMP	19.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,6395.99,0x2378ba,7,5
SC_FREEKB	3723296	CURRENT	0.188,325.4,1
PM_FREEKB	42360160	GPS	071214,145115,4755.196,-12515.990,13,2.6,33,18.8
_24V_AH	13.3,166.452

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	358	108.68	nil	0	0	0.00
Roll_motor	65	189	164.27	nil	0	0	0.00
VBD_pump_during_apogee	335	970	4333.86	nil	0	0	0.00
VBD_pump_during_surface	27	91	33.39	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	6553	8	697.67
Iridium_during_xfer	274	160	586.03	PMAR	95	4	6.25
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	22	5.20
TT8	1486	10	199.03
LPSleep	3262	2	93.58
TT8_Active	528	10	70.72
TT8_Sampling	1407	28	533.83
TT8_CF8	524	35	245.34
TT8_Kalman	0	0	0.00
Analog_circuits	1466	10	192.09
GPS_charging	0	0	0.00
Compass	958	0	9.42
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.59	-116.8	389	2404	1443	1219	0.0	0.0	0	92	0.00	0.00	-58.15	0.000	16386	0.000	0.000	390	2404	2827	2886	2768	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.59	-116.8	390	2404	2886	2773	3.4	-2.5	6	131	12.38	0.00	-10.15	0.000	18950	0.359	0.000	3121	2404	3340	3382	3299	0	0	0	0	0	0	13.71	28.83	14.53
372	-0.59	-116.8	3121	2403	3383	3297	47.4	-14.2	34	383	0.00	2.53	0.00	0.000	260	0.000	0.084	3121	3816	3340	3384	3297	0	0	0	0	0	0	28.83	14.07	28.83
454	-0.59	-116.8	3121	3816	3383	3297	57.9	-12.1	42	464	0.00	2.45	0.00	0.000	1030	0.000	0.059	3121	2402	3340	3383	3297	0	0	0	0	0	0	28.83	14.16	28.83
705	-0.59	-116.8	3121	2400	3384	3297	85.7	-10.3	67	716	0.00	2.47	0.00	0.000	516	0.000	0.070	3121	985	3340	3384	3297	0	0	0	0	0	0	28.83	14.04	28.83
738	-0.59	-116.8	3121	984	3391	3298	89.0	-10.6	70	749	0.00	2.50	0.00	0.000	1030	0.000	0.067	3121	2396	3340	3384	3297	0	0	0	0	0	0	28.83	14.11	28.83
990	-0.59	-116.8	3121	2396	3390	3297	114.1	-8.8	95	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	2396	3340	3384	3297	0	0	0	0	0	0	28.83	28.83	28.83
1240	-0.59	-116.8	3121	2396	3385	3299	134.9	-8.2	120	1251	0.00	2.53	0.00	0.000	260	0.000	0.083	3121	3820	3341	3385	3298	0	0	0	0	0	0	28.83	14.00	28.83
1303	-0.59	-116.8	3121	3825	3385	3297	139.7	-8.0	126	1314	0.00	2.45	0.00	0.000	1030	0.000	0.057	3121	2395	3341	3384	3298	0	0	0	0	0	0	28.83	14.16	28.83
1556	-0.59	-116.8	3121	2390	3385	3298	160.1	-7.7	151	1565	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	2394	3341	3385	3298	0	0	0	0	0	0	28.83	28.83	28.83
1807	-0.59	-116.8	3121	2387	3385	3297	180.7	-7.8	176	1818	0.00	2.58	0.00	0.000	260	0.000	0.086	3121	3815	3340	3385	3296	0	0	0	0	0	0	28.83	14.03	28.83
1869	-0.59	-116.8	3121	3815	3384	3298	186.3	-8.9	182	1880	0.00	2.47	0.00	0.000	1030	0.000	0.060	3121	2405	3341	3385	3298	0	0	0	0	0	0	28.83	14.17	28.83
2121	-0.59	-116.8	3121	2403	3385	3298	207.8	-8.8	207	2131	0.00	2.53	0.00	0.000	260	0.000	0.083	3121	3812	3341	3385	3297	0	0	0	0	0	0	28.83	14.06	28.83
2192	-0.59	-116.8	3121	3812	3384	3297	214.4	-9.2	214	2203	0.00	2.47	0.00	0.000	1030	0.000	0.059	3122	2388	3341	3385	3298	0	0	0	0	0	0	28.83	14.16	28.83
2443	-0.59	-116.8	3121	2382	3384	3298	235.7	-8.2	239	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2382	3341	3385	3298	0	0	0	0	0	0	28.83	28.83	28.83
2639	end dive: TARGET_DEPTH_EXCEEDED
state	2639	begin apogee
2650	-0.25	0.0	3121	2313	3385	3297	250.4	-7.7	259	2752	0.40	0.00	94.20	0.970	10246	0.174	0.000	3238	2313	2855	2929	2782	0	0	0	0	0	0	13.90	28.83	13.34
2754	end apogee: CONTROL_FINISHED_OK
state	2754	begin climb
2760	0.59	116.8	3238	2313	2928	2779	254.7	0.0	262	2863	0.82	0.00	94.32	0.951	10246	0.118	0.000	3512	2313	2378	2507	2250	0	0	0	0	0	0	14.07	28.83	13.28
3154	0.65	194.6	3512	2313	2505	2247	244.2	4.1	284	3225	0.00	2.53	61.08	0.951	8708	0.000	0.076	3519	924	2063	2209	1917	0	0	0	0	0	0	28.83	14.16	13.41
3286	0.68	194.6	3519	924	2209	1918	238.0	5.8	297	3297	0.00	2.47	0.00	0.000	1030	0.000	0.068	3519	2334	2063	2209	1918	0	0	0	0	0	0	28.83	14.15	28.83
3538	0.69	194.6	3519	2333	2210	1918	222.3	6.5	322	3549	0.00	2.50	0.00	0.000	260	0.000	0.084	3519	3742	2063	2209	1918	0	0	0	0	0	0	28.83	14.11	28.83
3611	0.69	194.6	3519	3741	2208	1918	217.0	7.5	329	3622	0.00	2.45	0.00	0.000	1030	0.000	0.063	3519	2343	2063	2209	1918	0	0	0	0	0	0	28.83	14.22	28.83
3864	0.69	194.6	3522	2339	2209	1918	198.8	8.4	354	3875	0.00	2.50	0.00	0.000	516	0.000	0.076	3519	915	2063	2209	1918	0	0	0	0	0	0	28.83	14.13	28.83
3935	0.69	194.6	3519	915	2209	1918	192.6	8.3	361	3947	0.00	2.47	0.00	0.000	1030	0.000	0.067	3520	2331	2063	2209	1918	0	0	0	0	0	0	28.83	14.18	28.83
4189	0.69	194.6	3519	2330	2209	1920	171.8	8.2	386	4200	0.00	2.53	0.00	0.000	260	0.000	0.084	3519	3749	2065	2213	1918	0	0	0	0	0	0	28.83	14.12	28.83
4260	0.69	194.6	3524	3749	2209	1918	165.5	8.9	393	4272	0.00	2.50	0.00	0.000	1030	0.000	0.061	3519	2318	2063	2209	1918	0	0	0	0	0	0	28.83	14.19	28.83
4513	0.69	194.6	3519	2318	2209	1918	146.5	7.2	418	4524	0.00	2.47	0.00	0.000	516	0.000	0.076	3519	912	2063	2209	1918	0	0	0	0	0	0	28.83	14.07	28.83
4585	0.69	194.6	3516	914	2209	1918	141.3	7.3	425	4597	0.00	2.50	0.00	0.000	1030	0.000	0.067	3519	2344	2063	2209	1918	0	0	0	0	0	0	28.83	14.15	28.83
4840	0.72	194.6	3520	2341	2209	1918	123.6	6.1	450	4851	0.12	0.00	0.00	0.000	2054	0.138	0.000	3587	2341	2063	2209	1918	0	0	0	0	0	0	14.23	28.83	28.83
5091	0.72	194.6	3587	2341	2209	1919	102.5	7.9	475	5103	0.12	2.55	0.00	0.000	4612	0.226	0.071	3562	917	2063	2209	1918	0	0	0	0	0	0	14.02	14.09	28.83
5179	0.75	246.1	3562	917	2209	1919	97.9	5.2	483	5233	0.00	2.50	40.25	0.801	9222	0.000	0.068	3559	2340	1851	1993	1710	0	0	0	0	0	0	28.83	14.14	13.59
5477	0.75	246.1	3562	2337	1995	1711	78.5	7.5	513	5487	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2336	1852	1993	1711	0	0	0	0	0	0	28.83	28.83	28.83
5728	0.75	246.1	3562	2336	1993	1711	55.1	8.1	538	5739	0.00	2.53	0.00	0.000	260	0.000	0.084	3562	3738	1852	1993	1712	0	0	0	0	0	0	28.83	14.09	28.83
5855	0.75	246.1	3561	3738	1993	1712	45.8	7.0	550	5866	0.00	2.45	0.00	0.000	1030	0.000	0.061	3561	2325	1852	1993	1712	0	0	0	0	0	0	28.83	14.17	28.83
6106	0.78	246.1	3563	2324	1993	1712	30.3	5.8	575	6117	0.00	2.47	0.00	0.000	516	0.000	0.076	3562	920	1852	1993	1712	0	0	0	0	0	0	28.83	14.09	28.83
6159	0.83	310.2	3563	920	1993	1712	27.8	4.6	580	6218	0.00	2.47	46.08	0.708	9222	0.000	0.067	3562	2328	1590	1738	1442	0	0	0	0	0	0	28.83	14.16	13.64
6464	0.83	310.2	3562	2328	1737	1442	6.5	8.5	610	6474	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2333	1589	1738	1441	0	0	0	0	0	0	28.83	28.83	28.83
6490	end climb: SURFACE_DEPTH_REACHED
state	6490	begin surface coast
6531	end surface coast: CONTROL_FINISHED_OK
state	6531	begin surface