Glider dive log

NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 702 * 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 702 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 27 ALTIM_PULSE 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 8 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 1 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 1

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 702 NOCOMM_ACTION 161 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 22 VBD_MIN 470

D_BOOST 20 N_FILEKB 8 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 060116,002802,4750.1401,-12513.7324,34,0.8,41,16.5,0.3,34.1,10,4.4 SPEED_LIMITS 0.127,0.207

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 4 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.72 MHEAD_RNG_PITCHd_Wd 42.7,5180,-14.8,-7.333,-19.49,2243

_SM_ANGLEo -75.5 D_GRID 338

GPS2 060116,004113,4750.2686,-12513.6230,6,0.9,7,16.5,0.5,174.9,9,7.6

Post-dive calculations and measurements:

FINISH 0.7,1.024730 _10V_AH 12.59,0.000

SM_CCo 9515,5.03,0.080,0,0,1309,400.08 FG_AHR_24Vo 0.000

SM_GC 0.87,9.90,0.52,5.03,0.034,0.092,0.080,92,1955,1309,-10.25,0.65,400.08,0,0,0,0,0,0,14.13,14.07,14.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12521.07,050116,203823 MEM 286288

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 20071,602

HUMID 49.72 CAP_FILE_SIZE 104865,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260034560,168660992

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.168,30.57,1

SC_FREEKB 3646400 GPS 060116,032202,4751.240,-12511.957,24,0.8,41,16.5,0.6,57.5,10,3.3

_24V_AH 12.57,204.586

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 356 114.49 nil 0 0 0.00

Roll_motor 100 101 127.96 nil 0 0 0.00

VBD_pump_during_apogee 369 1129 5246.55 nil 0 0 0.00

VBD_pump_during_surface 5 80 5.07 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 9561 7 874.20

Iridium_during_xfer 446 156 879.98 PMAR 4245 9 494.32

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 15 1.67

TT8 1130 10 154.73

LPSleep 6479 2 178.66

TT8_Active 482 10 66.06

TT8_Sampling 1600 29 596.38

TT8_CF8 605 35 271.15

TT8_Kalman 0 0 0.00

Analog_circuits 1662 11 242.79

GPS_charging 0 0 0.00

Compass 884 16 183.49

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

34 -0.39 -107.1 73 1954 1215 1412 0.0 0.0 0 115 0.00 0.00 -77.05 0.000 16390 0.000 0.000 69 1953 3378 3375 3381 0 0 0 0 0 0 14.47 12.57 14.31

123 -0.39 -107.1 69 1954 3375 3383 1.6 -2.1 2 145 14.38 2.67 0.00 0.000 2308 0.356 0.096 3252 3387 3382 3379 3386 0 0 0 0 0 0 13.69 14.00 14.06

349 -0.39 -107.1 3251 3387 3375 3392 44.6 -10.3 45 357 0.00 2.58 0.00 0.000 1030 0.000 0.083 3252 1982 3382 3374 3391 0 0 0 0 0 0 13.95 13.82 13.99

714 -0.39 -107.1 3252 1978 3371 3390 86.9 -11.8 56 721 0.00 2.62 0.00 0.000 516 0.000 0.096 3252 546 3383 3371 3395 0 0 0 0 0 0 14.37 13.81 14.38

754 -0.39 -107.1 3257 550 3374 3394 91.4 -11.1 62 761 0.00 2.60 0.00 0.000 1030 0.000 0.085 3252 1966 3382 3370 3395 0 0 0 0 0 0 14.02 13.85 14.04

1093 -0.39 -107.1 3251 1966 3370 3395 125.6 -9.6 73 1101 0.00 2.65 0.00 0.000 260 0.000 0.100 3252 3390 3382 3370 3395 0 0 0 0 0 0 14.40 13.77 14.42

1183 -0.39 -107.1 3251 3390 3370 3395 133.0 -7.5 89 1192 0.00 2.58 0.00 0.000 1030 0.000 0.081 3252 1973 3382 3370 3395 0 0 0 0 0 0 13.87 13.78 13.93

1534 -0.39 -107.1 3252 1973 3371 3395 159.2 -7.4 102 1542 0.00 2.60 0.00 0.000 516 0.000 0.093 3257 559 3386 3377 3395 0 0 0 0 0 0 14.36 13.76 14.38

1657 -0.39 -107.1 3247 559 3370 3395 169.7 -8.6 124 1664 0.00 2.60 0.00 0.000 1030 0.000 0.083 3252 1980 3382 3370 3395 0 0 0 0 0 0 14.01 13.88 14.04

1977 -0.39 -107.1 3251 1981 3370 3395 196.5 -8.4 131 1984 0.00 2.62 0.00 0.000 260 0.000 0.099 3252 3390 3383 3371 3395 0 0 0 0 0 0 14.36 13.78 14.38

2085 -0.39 -107.1 3251 3389 3369 3395 205.9 -8.5 151 2092 0.00 2.60 0.00 0.000 1030 0.000 0.079 3252 1960 3382 3369 3395 0 0 0 0 0 0 13.97 13.85 14.01

2415 -0.39 -107.1 3252 1961 3370 3395 232.0 -7.8 160 2422 0.00 2.58 0.00 0.000 516 0.000 0.096 3252 563 3386 3377 3396 0 0 0 0 0 0 14.37 13.77 14.38

2473 -0.39 -107.1 3251 563 3368 3396 236.7 -8.0 170 2481 0.00 2.58 0.00 0.000 1030 0.000 0.084 3252 1966 3383 3370 3396 0 0 0 0 0 0 13.96 13.81 14.01

2794 -0.39 -107.1 3256 1966 3369 3396 258.1 -6.5 177 2802 0.00 2.65 0.00 0.000 260 0.000 0.099 3252 3388 3382 3369 3395 0 0 0 0 0 0 14.35 13.78 14.37

2864 -0.39 -107.1 3251 3388 3376 3396 262.6 -6.3 189 2873 0.00 2.60 0.00 0.000 1030 0.000 0.080 3252 1974 3382 3369 3396 0 0 0 0 0 0 13.97 13.83 14.01

3239 -0.39 -107.1 3252 1973 3369 3395 286.8 -6.5 206 3246 0.00 2.65 0.00 0.000 516 0.000 0.096 3252 546 3382 3369 3395 0 0 0 0 0 0 14.33 13.78 14.35

3283 -0.39 -107.1 3252 546 3376 3396 290.1 -7.2 213 3292 0.00 2.62 0.00 0.000 1030 0.000 0.085 3252 1968 3382 3369 3396 0 0 0 0 0 0 13.97 13.83 14.02

3618 -0.39 -107.1 3251 1968 3368 3396 311.7 -6.7 223 3626 0.00 2.67 0.00 0.000 260 0.000 0.101 3252 3390 3382 3368 3397 0 0 0 0 0 0 14.38 13.78 14.39

3713 -0.39 -107.1 3252 3390 3368 3395 317.9 -6.5 240 3720 0.00 2.62 0.00 0.000 1030 0.000 0.082 3252 1957 3381 3367 3396 0 0 0 0 0 0 13.96 13.83 14.00

4051 end dive: TARGET_DEPTH_EXCEEDED

state 4052 begin apogee

4063 -0.16 0.0 3251 2268 3366 3396 340.0 -6.5 252 4155 0.30 0.00 86.62 1.129 10246 0.145 0.000 3344 2272 2940 2880 3001 0 0 0 0 0 0 13.66 14.01 13.34

4158 end apogee: CONTROL_FINISHED_OK

state 4158 begin climb

4165 0.39 107.1 3344 2267 2876 3000 342.3 0.0 253 4267 0.47 2.67 84.68 1.117 10500 0.104 0.099 3516 3664 2505 2376 2635 0 0 0 0 0 0 13.90 13.93 13.22

4369 0.42 167.8 3517 3664 2375 2626 337.9 4.5 290 4430 0.00 2.58 48.28 1.105 9222 0.000 0.083 3516 2252 2253 2101 2405 0 0 0 0 0 0 14.08 13.95 13.28

4796 0.45 222.5 3516 2258 2104 2404 317.9 4.8 318 4851 0.00 2.53 44.08 1.084 8708 0.000 0.093 3517 842 2028 1875 2182 0 0 0 0 0 0 14.47 13.90 13.40

4947 0.46 222.5 3516 842 1875 2182 309.4 6.5 346 4959 0.00 2.55 0.00 0.000 1030 0.000 0.086 3516 2247 2028 1875 2182 0 0 0 0 0 0 14.08 13.93 14.11

5307 0.50 222.5 3516 2246 1876 2182 289.8 5.4 359 5318 0.10 0.00 0.00 0.000 2054 0.119 0.000 3596 2247 2027 1874 2180 0 0 0 0 0 0 14.19 14.26 14.23

5600 0.50 222.5 3595 2246 1877 2182 263.7 9.0 364 5612 0.12 2.60 0.00 0.000 4612 0.208 0.093 3569 835 2029 1874 2185 0 0 0 0 0 0 13.87 13.94 13.95

5634 0.50 222.5 3568 835 1875 2182 260.6 8.9 368 5645 0.00 2.58 0.00 0.000 1030 0.000 0.087 3569 2247 2028 1874 2182 0 0 0 0 0 0 14.14 14.00 14.19

5992 0.50 222.5 3568 2246 1875 2181 233.5 7.6 381 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 3567 2247 2028 1875 2182 0 0 0 0 0 0 14.47 14.50 14.50

6286 0.50 222.5 3565 2251 1876 2181 211.2 7.4 386 6298 0.00 2.67 0.00 0.000 260 0.000 0.102 3568 3665 2029 1876 2182 0 0 0 0 0 0 14.49 13.88 14.50

6320 0.50 222.5 3568 3665 1876 2182 208.5 8.0 390 6332 0.00 2.60 0.00 0.000 1030 0.000 0.084 3566 2246 2026 1871 2182 0 0 0 0 0 0 14.13 13.99 14.17

6678 0.52 222.5 3568 2244 1876 2182 185.0 6.5 403 6690 0.00 2.58 0.00 0.000 516 0.000 0.096 3570 843 2029 1876 2182 0 0 0 0 0 0 14.48 13.91 14.50

6753 0.52 222.5 3569 843 1876 2182 179.9 6.9 415 6764 0.00 2.60 0.00 0.000 1030 0.000 0.090 3569 2263 2028 1876 2181 0 0 0 0 0 0 14.11 14.00 14.15

7130 0.54 222.5 3573 2263 1876 2182 155.1 6.6 432 7141 0.00 0.00 0.00 0.000 6 0.000 0.000 3569 2263 2028 1876 2181 0 0 0 0 0 0 14.47 14.47 14.47

7427 0.56 222.5 3569 2263 1876 2182 136.4 6.2 437 7438 0.00 2.65 0.00 0.000 516 0.000 0.095 3569 842 2029 1876 2182 0 0 0 0 0 0 14.45 13.83 14.47

7568 0.57 222.5 3569 842 1877 2182 127.7 6.5 462 7580 0.00 2.58 0.00 0.000 1030 0.000 0.087 3568 2246 2031 1883 2179 0 0 0 0 0 0 14.08 13.93 14.13

7942 0.61 286.5 3569 2246 1876 2182 110.2 4.4 478 8003 0.00 2.60 47.92 0.855 8452 0.000 0.099 3569 3664 1768 1619 1917 0 0 0 0 0 0 14.45 14.15 13.56

8100 0.62 286.5 3569 3664 1618 1915 100.1 6.5 507 8111 0.00 2.58 0.00 0.000 1030 0.000 0.082 3569 2242 1766 1618 1915 0 0 0 0 0 0 14.16 14.02 14.20

8452 0.65 330.5 3566 2243 1618 1915 81.7 5.3 519 8499 0.00 2.55 32.80 0.815 8708 0.000 0.099 3570 845 1589 1442 1737 0 0 0 0 0 0 14.44 14.07 13.56

8605 0.68 330.5 3569 844 1443 1737 73.0 5.6 547 8616 0.15 2.55 0.00 0.000 3078 0.103 0.084 3653 2266 1591 1444 1738 0 0 0 0 0 0 14.15 14.04 14.23

8934 0.68 330.5 3654 2266 1443 1738 42.7 9.9 560 8946 0.12 2.60 0.00 0.000 4356 0.218 0.097 3619 3664 1590 1442 1738 0 0 0 0 0 0 13.85 13.93 13.93

8956 0.68 330.5 3618 3664 1443 1737 39.9 9.9 562 8968 0.00 2.58 0.00 0.000 1030 0.000 0.083 3622 2247 1591 1445 1738 0 0 0 0 0 0 14.14 14.01 14.19

9289 0.68 330.5 3621 2243 1443 1738 14.6 7.4 576 9300 0.00 2.60 0.00 0.000 516 0.000 0.095 3622 820 1590 1443 1737 0 0 0 0 0 0 14.50 13.92 14.54

9398 0.71 387.8 3622 824 1443 1738 7.3 4.7 594 9434 0.00 2.60 25.27 0.102 9222 0.000 0.087 3622 2250 1363 1219 1507 0 0 0 0 0 0 14.12 13.98 14.05

9447 end climb: SURFACE_DEPTH_REACHED

state 9447 begin surface coast

9483 end surface coast: CONTROL_FINISHED_OK

state 9483 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	702	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	27	ALTIM_PULSE	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	8	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	1	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	060116,002802,4750.1401,-12513.7324,34,0.8,41,16.5,0.3,34.1,10,4.4	SPEED_LIMITS	0.127,0.207
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	4	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.72	MHEAD_RNG_PITCHd_Wd	42.7,5180,-14.8,-7.333,-19.49,2243
_SM_ANGLEo	-75.5	D_GRID	338
GPS2	060116,004113,4750.2686,-12513.6230,6,0.9,7,16.5,0.5,174.9,9,7.6

FINISH	0.7,1.024730	_10V_AH	12.59,0.000
SM_CCo	9515,5.03,0.080,0,0,1309,400.08	FG_AHR_24Vo	0.000
SM_GC	0.87,9.90,0.52,5.03,0.034,0.092,0.080,92,1955,1309,-10.25,0.65,400.08,0,0,0,0,0,0,14.13,14.07,14.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12521.07,050116,203823	MEM	286288
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	20071,602
HUMID	49.72	CAP_FILE_SIZE	104865,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260034560,168660992
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.168,30.57,1
SC_FREEKB	3646400	GPS	060116,032202,4751.240,-12511.957,24,0.8,41,16.5,0.6,57.5,10,3.3
_24V_AH	12.57,204.586

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	356	114.49	nil	0	0	0.00
Roll_motor	100	101	127.96	nil	0	0	0.00
VBD_pump_during_apogee	369	1129	5246.55	nil	0	0	0.00
VBD_pump_during_surface	5	80	5.07	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	9561	7	874.20
Iridium_during_xfer	446	156	879.98	PMAR	4245	9	494.32
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	15	1.67
TT8	1130	10	154.73
LPSleep	6479	2	178.66
TT8_Active	482	10	66.06
TT8_Sampling	1600	29	596.38
TT8_CF8	605	35	271.15
TT8_Kalman	0	0	0.00
Analog_circuits	1662	11	242.79
GPS_charging	0	0	0.00
Compass	884	16	183.49
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
34	-0.39	-107.1	73	1954	1215	1412	0.0	0.0	0	115	0.00	0.00	-77.05	0.000	16390	0.000	0.000	69	1953	3378	3375	3381	0	0	0	0	0	0	14.47	12.57	14.31
123	-0.39	-107.1	69	1954	3375	3383	1.6	-2.1	2	145	14.38	2.67	0.00	0.000	2308	0.356	0.096	3252	3387	3382	3379	3386	0	0	0	0	0	0	13.69	14.00	14.06
349	-0.39	-107.1	3251	3387	3375	3392	44.6	-10.3	45	357	0.00	2.58	0.00	0.000	1030	0.000	0.083	3252	1982	3382	3374	3391	0	0	0	0	0	0	13.95	13.82	13.99
714	-0.39	-107.1	3252	1978	3371	3390	86.9	-11.8	56	721	0.00	2.62	0.00	0.000	516	0.000	0.096	3252	546	3383	3371	3395	0	0	0	0	0	0	14.37	13.81	14.38
754	-0.39	-107.1	3257	550	3374	3394	91.4	-11.1	62	761	0.00	2.60	0.00	0.000	1030	0.000	0.085	3252	1966	3382	3370	3395	0	0	0	0	0	0	14.02	13.85	14.04
1093	-0.39	-107.1	3251	1966	3370	3395	125.6	-9.6	73	1101	0.00	2.65	0.00	0.000	260	0.000	0.100	3252	3390	3382	3370	3395	0	0	0	0	0	0	14.40	13.77	14.42
1183	-0.39	-107.1	3251	3390	3370	3395	133.0	-7.5	89	1192	0.00	2.58	0.00	0.000	1030	0.000	0.081	3252	1973	3382	3370	3395	0	0	0	0	0	0	13.87	13.78	13.93
1534	-0.39	-107.1	3252	1973	3371	3395	159.2	-7.4	102	1542	0.00	2.60	0.00	0.000	516	0.000	0.093	3257	559	3386	3377	3395	0	0	0	0	0	0	14.36	13.76	14.38
1657	-0.39	-107.1	3247	559	3370	3395	169.7	-8.6	124	1664	0.00	2.60	0.00	0.000	1030	0.000	0.083	3252	1980	3382	3370	3395	0	0	0	0	0	0	14.01	13.88	14.04
1977	-0.39	-107.1	3251	1981	3370	3395	196.5	-8.4	131	1984	0.00	2.62	0.00	0.000	260	0.000	0.099	3252	3390	3383	3371	3395	0	0	0	0	0	0	14.36	13.78	14.38
2085	-0.39	-107.1	3251	3389	3369	3395	205.9	-8.5	151	2092	0.00	2.60	0.00	0.000	1030	0.000	0.079	3252	1960	3382	3369	3395	0	0	0	0	0	0	13.97	13.85	14.01
2415	-0.39	-107.1	3252	1961	3370	3395	232.0	-7.8	160	2422	0.00	2.58	0.00	0.000	516	0.000	0.096	3252	563	3386	3377	3396	0	0	0	0	0	0	14.37	13.77	14.38
2473	-0.39	-107.1	3251	563	3368	3396	236.7	-8.0	170	2481	0.00	2.58	0.00	0.000	1030	0.000	0.084	3252	1966	3383	3370	3396	0	0	0	0	0	0	13.96	13.81	14.01
2794	-0.39	-107.1	3256	1966	3369	3396	258.1	-6.5	177	2802	0.00	2.65	0.00	0.000	260	0.000	0.099	3252	3388	3382	3369	3395	0	0	0	0	0	0	14.35	13.78	14.37
2864	-0.39	-107.1	3251	3388	3376	3396	262.6	-6.3	189	2873	0.00	2.60	0.00	0.000	1030	0.000	0.080	3252	1974	3382	3369	3396	0	0	0	0	0	0	13.97	13.83	14.01
3239	-0.39	-107.1	3252	1973	3369	3395	286.8	-6.5	206	3246	0.00	2.65	0.00	0.000	516	0.000	0.096	3252	546	3382	3369	3395	0	0	0	0	0	0	14.33	13.78	14.35
3283	-0.39	-107.1	3252	546	3376	3396	290.1	-7.2	213	3292	0.00	2.62	0.00	0.000	1030	0.000	0.085	3252	1968	3382	3369	3396	0	0	0	0	0	0	13.97	13.83	14.02
3618	-0.39	-107.1	3251	1968	3368	3396	311.7	-6.7	223	3626	0.00	2.67	0.00	0.000	260	0.000	0.101	3252	3390	3382	3368	3397	0	0	0	0	0	0	14.38	13.78	14.39
3713	-0.39	-107.1	3252	3390	3368	3395	317.9	-6.5	240	3720	0.00	2.62	0.00	0.000	1030	0.000	0.082	3252	1957	3381	3367	3396	0	0	0	0	0	0	13.96	13.83	14.00
4051	end dive: TARGET_DEPTH_EXCEEDED
state	4052	begin apogee
4063	-0.16	0.0	3251	2268	3366	3396	340.0	-6.5	252	4155	0.30	0.00	86.62	1.129	10246	0.145	0.000	3344	2272	2940	2880	3001	0	0	0	0	0	0	13.66	14.01	13.34
4158	end apogee: CONTROL_FINISHED_OK
state	4158	begin climb
4165	0.39	107.1	3344	2267	2876	3000	342.3	0.0	253	4267	0.47	2.67	84.68	1.117	10500	0.104	0.099	3516	3664	2505	2376	2635	0	0	0	0	0	0	13.90	13.93	13.22
4369	0.42	167.8	3517	3664	2375	2626	337.9	4.5	290	4430	0.00	2.58	48.28	1.105	9222	0.000	0.083	3516	2252	2253	2101	2405	0	0	0	0	0	0	14.08	13.95	13.28
4796	0.45	222.5	3516	2258	2104	2404	317.9	4.8	318	4851	0.00	2.53	44.08	1.084	8708	0.000	0.093	3517	842	2028	1875	2182	0	0	0	0	0	0	14.47	13.90	13.40
4947	0.46	222.5	3516	842	1875	2182	309.4	6.5	346	4959	0.00	2.55	0.00	0.000	1030	0.000	0.086	3516	2247	2028	1875	2182	0	0	0	0	0	0	14.08	13.93	14.11
5307	0.50	222.5	3516	2246	1876	2182	289.8	5.4	359	5318	0.10	0.00	0.00	0.000	2054	0.119	0.000	3596	2247	2027	1874	2180	0	0	0	0	0	0	14.19	14.26	14.23
5600	0.50	222.5	3595	2246	1877	2182	263.7	9.0	364	5612	0.12	2.60	0.00	0.000	4612	0.208	0.093	3569	835	2029	1874	2185	0	0	0	0	0	0	13.87	13.94	13.95
5634	0.50	222.5	3568	835	1875	2182	260.6	8.9	368	5645	0.00	2.58	0.00	0.000	1030	0.000	0.087	3569	2247	2028	1874	2182	0	0	0	0	0	0	14.14	14.00	14.19
5992	0.50	222.5	3568	2246	1875	2181	233.5	7.6	381	6003	0.00	0.00	0.00	0.000	6	0.000	0.000	3567	2247	2028	1875	2182	0	0	0	0	0	0	14.47	14.50	14.50
6286	0.50	222.5	3565	2251	1876	2181	211.2	7.4	386	6298	0.00	2.67	0.00	0.000	260	0.000	0.102	3568	3665	2029	1876	2182	0	0	0	0	0	0	14.49	13.88	14.50
6320	0.50	222.5	3568	3665	1876	2182	208.5	8.0	390	6332	0.00	2.60	0.00	0.000	1030	0.000	0.084	3566	2246	2026	1871	2182	0	0	0	0	0	0	14.13	13.99	14.17
6678	0.52	222.5	3568	2244	1876	2182	185.0	6.5	403	6690	0.00	2.58	0.00	0.000	516	0.000	0.096	3570	843	2029	1876	2182	0	0	0	0	0	0	14.48	13.91	14.50
6753	0.52	222.5	3569	843	1876	2182	179.9	6.9	415	6764	0.00	2.60	0.00	0.000	1030	0.000	0.090	3569	2263	2028	1876	2181	0	0	0	0	0	0	14.11	14.00	14.15
7130	0.54	222.5	3573	2263	1876	2182	155.1	6.6	432	7141	0.00	0.00	0.00	0.000	6	0.000	0.000	3569	2263	2028	1876	2181	0	0	0	0	0	0	14.47	14.47	14.47
7427	0.56	222.5	3569	2263	1876	2182	136.4	6.2	437	7438	0.00	2.65	0.00	0.000	516	0.000	0.095	3569	842	2029	1876	2182	0	0	0	0	0	0	14.45	13.83	14.47
7568	0.57	222.5	3569	842	1877	2182	127.7	6.5	462	7580	0.00	2.58	0.00	0.000	1030	0.000	0.087	3568	2246	2031	1883	2179	0	0	0	0	0	0	14.08	13.93	14.13
7942	0.61	286.5	3569	2246	1876	2182	110.2	4.4	478	8003	0.00	2.60	47.92	0.855	8452	0.000	0.099	3569	3664	1768	1619	1917	0	0	0	0	0	0	14.45	14.15	13.56
8100	0.62	286.5	3569	3664	1618	1915	100.1	6.5	507	8111	0.00	2.58	0.00	0.000	1030	0.000	0.082	3569	2242	1766	1618	1915	0	0	0	0	0	0	14.16	14.02	14.20
8452	0.65	330.5	3566	2243	1618	1915	81.7	5.3	519	8499	0.00	2.55	32.80	0.815	8708	0.000	0.099	3570	845	1589	1442	1737	0	0	0	0	0	0	14.44	14.07	13.56
8605	0.68	330.5	3569	844	1443	1737	73.0	5.6	547	8616	0.15	2.55	0.00	0.000	3078	0.103	0.084	3653	2266	1591	1444	1738	0	0	0	0	0	0	14.15	14.04	14.23
8934	0.68	330.5	3654	2266	1443	1738	42.7	9.9	560	8946	0.12	2.60	0.00	0.000	4356	0.218	0.097	3619	3664	1590	1442	1738	0	0	0	0	0	0	13.85	13.93	13.93
8956	0.68	330.5	3618	3664	1443	1737	39.9	9.9	562	8968	0.00	2.58	0.00	0.000	1030	0.000	0.083	3622	2247	1591	1445	1738	0	0	0	0	0	0	14.14	14.01	14.19
9289	0.68	330.5	3621	2243	1443	1738	14.6	7.4	576	9300	0.00	2.60	0.00	0.000	516	0.000	0.095	3622	820	1590	1443	1737	0	0	0	0	0	0	14.50	13.92	14.54
9398	0.71	387.8	3622	824	1443	1738	7.3	4.7	594	9434	0.00	2.60	25.27	0.102	9222	0.000	0.087	3622	2250	1363	1219	1507	0	0	0	0	0	0	14.12	13.98	14.05
9447	end climb: SURFACE_DEPTH_REACHED
state	9447	begin surface coast
9483	end surface coast: CONTROL_FINISHED_OK
state	9483	begin surface