Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 821 * 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 821 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 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 -1595490.5 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 350

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 -1595490.5

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 32 VBD_MAXERRORS 1

DIVE 821 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 210115,054235,4752.835,-12515.622,12,1.7,29,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.59 MHEAD_RNG_PITCHd_Wd 130.5,7061,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -74.4 D_GRID 257

GPS2 210115,055238,4752.873,-12515.776,14,2.3,34,18.8

Post-dive calculations and measurements:

FINISH 1.7,1.012859 _10V_AH 12.5,0.000

SM_CCo 6898,45.38,0.091,0,0,1431,350.04 FG_AHR_24Vo 0.000

SM_GC 2.67,9.30,0.12,45.38,0.054,0.148,0.091,392,2413,1431,-9.10,-0.76,350.04,0,0,0,0,0,0,14.09,14.11,14.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12525.55,210115,030319 MEM 290804

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 23401,655

HUMID 50.59 CAP_FILE_SIZE 122362,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260034560,171454464

TCM_TEMP 19.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,8886.06,0x2378ba,7,5

SC_FREEKB 3675264 CURRENT 0.268,355.4,1

PM_FREEKB 36678112 GPS 210115,075029,4753.316,-12515.401,35,1.7,39,18.8

_24V_AH 13.4,207.872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 360 112.62 nil 0 0 0.00

Roll_motor 81 148 161.78 nil 0 0 0.00

VBD_pump_during_apogee 288 987 3814.71 nil 0 0 0.00

VBD_pump_during_surface 45 91 55.35 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 6900 7 738.02

Iridium_during_xfer 248 165 551.01 PMAR 104 5 7.06

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 22 9.85

TT8 1568 10 200.43

LPSleep 3360 2 92.00

TT8_Active 499 10 63.79

TT8_Sampling 1470 28 532.09

TT8_CF8 640 35 285.76

TT8_Kalman 0 0 0.00

Analog_circuits 1453 10 181.67

GPS_charging 0 0 0.00

Compass 1051 0 9.86

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

28 -0.59 -116.8 378 2414 1543 1327 0.0 0.0 0 81 0.00 0.00 -46.40 0.000 16386 0.000 0.000 378 2415 2619 2702 2537 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.59 -116.8 378 2415 2702 2538 3.2 -1.4 5 132 12.43 2.60 -16.85 0.000 18948 0.360 0.094 3128 997 3337 3382 3293 0 0 0 0 0 0 13.75 13.94 14.40

194 -0.59 -116.8 3128 995 3383 3294 17.0 -12.0 16 205 0.00 2.50 0.00 0.000 1030 0.000 0.072 3133 2390 3338 3383 3294 0 0 0 0 0 0 28.83 13.95 28.83

446 -0.59 -116.8 3128 2390 3383 3294 46.4 -11.4 41 458 0.00 2.60 0.00 0.000 260 0.000 0.086 3128 3815 3338 3383 3294 0 0 0 0 0 0 28.83 13.85 28.83

520 -0.59 -116.8 3128 3808 3383 3294 54.2 -10.5 48 531 0.00 2.47 0.00 0.000 1030 0.000 0.057 3127 2407 3338 3383 3294 0 0 0 0 0 0 28.83 13.88 28.83

773 -0.59 -116.8 3128 2402 3383 3293 78.0 -8.8 73 785 0.00 2.60 0.00 0.000 260 0.000 0.083 3128 3819 3339 3384 3294 0 0 0 0 0 0 28.83 13.86 28.83

846 -0.59 -116.8 3128 3818 3383 3291 84.4 -8.1 80 856 0.00 2.53 0.00 0.000 1030 0.000 0.057 3128 2388 3338 3382 3294 0 0 0 0 0 0 28.83 13.93 28.83

1098 -0.59 -116.8 3127 2382 3383 3295 102.7 -6.3 105 1109 0.00 2.47 0.00 0.000 516 0.000 0.070 3128 999 3339 3383 3295 0 0 0 0 0 0 28.83 13.87 28.83

1182 -0.59 -116.8 3128 999 3389 3295 109.8 -9.1 113 1193 0.00 2.53 0.00 0.000 1030 0.000 0.068 3128 2403 3339 3383 3295 0 0 0 0 0 0 28.83 13.89 28.83

1435 -0.59 -116.8 3128 2402 3384 3296 132.6 -8.4 138 1445 0.00 2.58 0.00 0.000 260 0.000 0.084 3128 3812 3340 3384 3296 0 0 0 0 0 0 28.83 13.78 28.83

1626 -0.59 -116.8 3127 3811 3384 3296 146.2 -6.8 157 1638 0.00 2.50 0.00 0.000 1030 0.000 0.056 3128 2397 3340 3384 3296 0 0 0 0 0 0 28.83 13.93 28.83

1882 -0.59 -116.8 3128 2396 3384 3296 166.4 -9.1 182 1892 0.00 2.53 0.00 0.000 516 0.000 0.070 3128 993 3340 3384 3296 0 0 0 0 0 0 28.83 13.85 28.83

1924 -0.59 -116.8 3128 993 3384 3296 170.5 -9.2 186 1934 0.00 2.53 0.00 0.000 1030 0.000 0.069 3128 2399 3339 3383 3296 0 0 0 0 0 0 28.83 13.90 28.83

2176 -0.59 -116.8 3128 2399 3384 3299 192.3 -8.2 211 2187 0.00 2.62 0.00 0.000 260 0.000 0.086 3128 3818 3340 3384 3296 0 0 0 0 0 0 28.83 13.85 28.83

2259 -0.59 -116.8 3127 3822 3379 3296 199.4 -8.3 219 2270 0.00 2.50 0.00 0.000 1030 0.000 0.057 3128 2403 3340 3384 3296 0 0 0 0 0 0 28.83 13.90 28.83

2513 -0.59 -116.8 3128 2403 3384 3296 219.5 -7.5 244 2523 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2400 3338 3383 3294 0 0 0 0 0 0 28.83 28.83 28.83

2765 -0.59 -116.8 3129 2403 3383 3296 237.7 -6.8 269 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2402 3339 3383 3296 0 0 0 0 0 0 28.83 28.83 28.83

3037 -0.59 -116.8 3128 2402 3383 3295 256.5 -6.8 290 3047 0.00 2.65 0.00 0.000 260 0.000 0.083 3133 3820 3339 3383 3296 0 0 0 0 0 0 28.83 13.83 28.83

3052 end dive: TARGET_DEPTH_EXCEEDED

state 3052 begin apogee

3067 -0.25 0.0 3128 2323 3384 3300 258.1 -6.8 292 3167 0.40 0.00 93.03 0.988 10246 0.168 0.000 3243 2326 2855 2925 2786 0 0 0 0 0 0 13.63 28.83 13.50

3169 end apogee: CONTROL_FINISHED_OK

state 3169 begin climb

3174 0.59 116.8 3243 2322 2926 2782 261.7 0.0 295 3285 0.82 2.58 93.40 0.970 10756 0.119 0.073 3520 919 2378 2505 2252 0 0 0 0 0 0 13.91 14.02 13.38

3326 0.63 177.8 3519 919 2504 2258 258.4 4.8 312 3387 0.00 2.53 48.53 0.965 9222 0.000 0.067 3519 2339 2130 2273 1987 0 0 0 0 0 0 28.83 13.95 13.40

3693 0.68 246.1 3520 2340 2273 1986 238.0 4.5 342 3756 0.00 2.58 53.30 0.946 8452 0.000 0.084 3519 3733 1848 1992 1705 0 0 0 0 0 0 28.83 14.14 13.51

3867 0.70 246.1 3519 3733 1991 1709 228.3 6.6 360 3878 0.00 2.47 0.00 0.000 1030 0.000 0.060 3519 2333 1849 1990 1709 0 0 0 0 0 0 28.83 14.04 28.83

4121 0.73 246.1 3519 2333 1991 1711 213.6 5.7 385 4133 0.12 2.53 0.00 0.000 2564 0.136 0.073 3587 920 1851 1992 1711 0 0 0 0 0 0 14.12 13.99 28.83

4195 0.73 246.1 3588 925 1991 1711 207.3 9.2 392 4205 0.00 2.50 0.00 0.000 1030 0.000 0.067 3587 2330 1851 1991 1711 0 0 0 0 0 0 28.83 14.04 28.83

4446 0.73 246.1 3588 2329 1991 1712 183.4 9.8 417 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 3588 2330 1852 1992 1713 0 0 0 0 0 0 28.83 28.83 28.83

4698 0.73 246.1 3584 2329 1991 1714 157.6 10.9 442 4709 0.00 0.00 0.00 0.000 6 0.000 0.000 3588 2329 1852 1992 1713 0 0 0 0 0 0 28.83 28.83 28.83

4952 0.73 246.1 3588 2330 1991 1715 128.1 12.0 467 4963 0.00 2.53 0.00 0.000 516 0.000 0.076 3587 920 1853 1991 1715 0 0 0 0 0 0 28.83 13.97 28.83

5025 0.73 246.1 3588 920 1986 1716 119.9 10.9 474 5036 0.12 2.50 0.00 0.000 5126 0.223 0.067 3559 2331 1854 1992 1717 0 0 0 0 0 0 13.83 14.03 28.83

5277 0.75 246.1 3559 2330 1992 1716 98.9 6.5 499 5288 0.00 2.55 0.00 0.000 260 0.000 0.082 3559 3733 1853 1991 1716 0 0 0 0 0 0 28.83 13.95 28.83

5351 0.75 246.1 3559 3733 1991 1716 94.1 6.9 506 5362 0.00 2.50 0.00 0.000 1030 0.000 0.059 3562 2320 1853 1991 1715 0 0 0 0 0 0 28.83 13.97 28.83

5604 0.75 246.1 3563 2316 1991 1716 78.8 7.5 531 5615 0.00 2.50 0.00 0.000 516 0.000 0.075 3562 924 1852 1991 1713 0 0 0 0 0 0 28.83 13.93 28.83

5721 0.75 246.1 3562 924 1991 1716 70.2 7.1 542 5732 0.00 2.53 0.00 0.000 1030 0.000 0.066 3563 2341 1853 1991 1716 0 0 0 0 0 0 28.83 13.93 28.83

5974 0.77 246.1 3562 2341 1991 1716 54.4 6.3 567 5985 0.00 2.55 0.00 0.000 260 0.000 0.082 3562 3734 1853 1991 1716 0 0 0 0 0 0 28.83 13.92 28.83

6126 0.79 246.1 3562 3734 1991 1716 44.9 6.0 582 6137 0.00 2.50 0.00 0.000 1030 0.000 0.059 3562 2325 1853 1991 1716 0 0 0 0 0 0 28.83 13.97 28.83

6380 0.81 246.1 3562 2322 1991 1716 31.2 6.2 607 6391 0.00 2.50 0.00 0.000 516 0.000 0.074 3558 928 1853 1991 1716 0 0 0 0 0 0 28.83 13.90 28.83

6476 0.85 246.1 3562 928 1989 1716 25.4 5.8 616 6488 0.12 2.50 0.00 0.000 3078 0.133 0.065 3618 2327 1853 1991 1716 0 0 0 0 0 0 14.00 13.97 28.83

6730 0.86 246.1 3617 2330 1991 1716 10.0 6.8 641 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 3619 2327 1855 1991 1720 0 0 0 0 0 0 28.83 28.83 28.83

6817 end climb: SURFACE_DEPTH_REACHED

state 6817 begin surface coast

6868 end surface coast: CONTROL_FINISHED_OK

state 6868 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	821	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	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	-1595490.5	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	210115,054235,4752.835,-12515.622,12,1.7,29,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.59	MHEAD_RNG_PITCHd_Wd	130.5,7061,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-74.4	D_GRID	257
GPS2	210115,055238,4752.873,-12515.776,14,2.3,34,18.8

FINISH	1.7,1.012859	_10V_AH	12.5,0.000
SM_CCo	6898,45.38,0.091,0,0,1431,350.04	FG_AHR_24Vo	0.000
SM_GC	2.67,9.30,0.12,45.38,0.054,0.148,0.091,392,2413,1431,-9.10,-0.76,350.04,0,0,0,0,0,0,14.09,14.11,14.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12525.55,210115,030319	MEM	290804
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	23401,655
HUMID	50.59	CAP_FILE_SIZE	122362,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260034560,171454464
TCM_TEMP	19.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,8886.06,0x2378ba,7,5
SC_FREEKB	3675264	CURRENT	0.268,355.4,1
PM_FREEKB	36678112	GPS	210115,075029,4753.316,-12515.401,35,1.7,39,18.8
_24V_AH	13.4,207.872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	360	112.62	nil	0	0	0.00
Roll_motor	81	148	161.78	nil	0	0	0.00
VBD_pump_during_apogee	288	987	3814.71	nil	0	0	0.00
VBD_pump_during_surface	45	91	55.35	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	6900	7	738.02
Iridium_during_xfer	248	165	551.01	PMAR	104	5	7.06
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	22	9.85
TT8	1568	10	200.43
LPSleep	3360	2	92.00
TT8_Active	499	10	63.79
TT8_Sampling	1470	28	532.09
TT8_CF8	640	35	285.76
TT8_Kalman	0	0	0.00
Analog_circuits	1453	10	181.67
GPS_charging	0	0	0.00
Compass	1051	0	9.86
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
28	-0.59	-116.8	378	2414	1543	1327	0.0	0.0	0	81	0.00	0.00	-46.40	0.000	16386	0.000	0.000	378	2415	2619	2702	2537	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.59	-116.8	378	2415	2702	2538	3.2	-1.4	5	132	12.43	2.60	-16.85	0.000	18948	0.360	0.094	3128	997	3337	3382	3293	0	0	0	0	0	0	13.75	13.94	14.40
194	-0.59	-116.8	3128	995	3383	3294	17.0	-12.0	16	205	0.00	2.50	0.00	0.000	1030	0.000	0.072	3133	2390	3338	3383	3294	0	0	0	0	0	0	28.83	13.95	28.83
446	-0.59	-116.8	3128	2390	3383	3294	46.4	-11.4	41	458	0.00	2.60	0.00	0.000	260	0.000	0.086	3128	3815	3338	3383	3294	0	0	0	0	0	0	28.83	13.85	28.83
520	-0.59	-116.8	3128	3808	3383	3294	54.2	-10.5	48	531	0.00	2.47	0.00	0.000	1030	0.000	0.057	3127	2407	3338	3383	3294	0	0	0	0	0	0	28.83	13.88	28.83
773	-0.59	-116.8	3128	2402	3383	3293	78.0	-8.8	73	785	0.00	2.60	0.00	0.000	260	0.000	0.083	3128	3819	3339	3384	3294	0	0	0	0	0	0	28.83	13.86	28.83
846	-0.59	-116.8	3128	3818	3383	3291	84.4	-8.1	80	856	0.00	2.53	0.00	0.000	1030	0.000	0.057	3128	2388	3338	3382	3294	0	0	0	0	0	0	28.83	13.93	28.83
1098	-0.59	-116.8	3127	2382	3383	3295	102.7	-6.3	105	1109	0.00	2.47	0.00	0.000	516	0.000	0.070	3128	999	3339	3383	3295	0	0	0	0	0	0	28.83	13.87	28.83
1182	-0.59	-116.8	3128	999	3389	3295	109.8	-9.1	113	1193	0.00	2.53	0.00	0.000	1030	0.000	0.068	3128	2403	3339	3383	3295	0	0	0	0	0	0	28.83	13.89	28.83
1435	-0.59	-116.8	3128	2402	3384	3296	132.6	-8.4	138	1445	0.00	2.58	0.00	0.000	260	0.000	0.084	3128	3812	3340	3384	3296	0	0	0	0	0	0	28.83	13.78	28.83
1626	-0.59	-116.8	3127	3811	3384	3296	146.2	-6.8	157	1638	0.00	2.50	0.00	0.000	1030	0.000	0.056	3128	2397	3340	3384	3296	0	0	0	0	0	0	28.83	13.93	28.83
1882	-0.59	-116.8	3128	2396	3384	3296	166.4	-9.1	182	1892	0.00	2.53	0.00	0.000	516	0.000	0.070	3128	993	3340	3384	3296	0	0	0	0	0	0	28.83	13.85	28.83
1924	-0.59	-116.8	3128	993	3384	3296	170.5	-9.2	186	1934	0.00	2.53	0.00	0.000	1030	0.000	0.069	3128	2399	3339	3383	3296	0	0	0	0	0	0	28.83	13.90	28.83
2176	-0.59	-116.8	3128	2399	3384	3299	192.3	-8.2	211	2187	0.00	2.62	0.00	0.000	260	0.000	0.086	3128	3818	3340	3384	3296	0	0	0	0	0	0	28.83	13.85	28.83
2259	-0.59	-116.8	3127	3822	3379	3296	199.4	-8.3	219	2270	0.00	2.50	0.00	0.000	1030	0.000	0.057	3128	2403	3340	3384	3296	0	0	0	0	0	0	28.83	13.90	28.83
2513	-0.59	-116.8	3128	2403	3384	3296	219.5	-7.5	244	2523	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2400	3338	3383	3294	0	0	0	0	0	0	28.83	28.83	28.83
2765	-0.59	-116.8	3129	2403	3383	3296	237.7	-6.8	269	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2402	3339	3383	3296	0	0	0	0	0	0	28.83	28.83	28.83
3037	-0.59	-116.8	3128	2402	3383	3295	256.5	-6.8	290	3047	0.00	2.65	0.00	0.000	260	0.000	0.083	3133	3820	3339	3383	3296	0	0	0	0	0	0	28.83	13.83	28.83
3052	end dive: TARGET_DEPTH_EXCEEDED
state	3052	begin apogee
3067	-0.25	0.0	3128	2323	3384	3300	258.1	-6.8	292	3167	0.40	0.00	93.03	0.988	10246	0.168	0.000	3243	2326	2855	2925	2786	0	0	0	0	0	0	13.63	28.83	13.50
3169	end apogee: CONTROL_FINISHED_OK
state	3169	begin climb
3174	0.59	116.8	3243	2322	2926	2782	261.7	0.0	295	3285	0.82	2.58	93.40	0.970	10756	0.119	0.073	3520	919	2378	2505	2252	0	0	0	0	0	0	13.91	14.02	13.38
3326	0.63	177.8	3519	919	2504	2258	258.4	4.8	312	3387	0.00	2.53	48.53	0.965	9222	0.000	0.067	3519	2339	2130	2273	1987	0	0	0	0	0	0	28.83	13.95	13.40
3693	0.68	246.1	3520	2340	2273	1986	238.0	4.5	342	3756	0.00	2.58	53.30	0.946	8452	0.000	0.084	3519	3733	1848	1992	1705	0	0	0	0	0	0	28.83	14.14	13.51
3867	0.70	246.1	3519	3733	1991	1709	228.3	6.6	360	3878	0.00	2.47	0.00	0.000	1030	0.000	0.060	3519	2333	1849	1990	1709	0	0	0	0	0	0	28.83	14.04	28.83
4121	0.73	246.1	3519	2333	1991	1711	213.6	5.7	385	4133	0.12	2.53	0.00	0.000	2564	0.136	0.073	3587	920	1851	1992	1711	0	0	0	0	0	0	14.12	13.99	28.83
4195	0.73	246.1	3588	925	1991	1711	207.3	9.2	392	4205	0.00	2.50	0.00	0.000	1030	0.000	0.067	3587	2330	1851	1991	1711	0	0	0	0	0	0	28.83	14.04	28.83
4446	0.73	246.1	3588	2329	1991	1712	183.4	9.8	417	4457	0.00	0.00	0.00	0.000	6	0.000	0.000	3588	2330	1852	1992	1713	0	0	0	0	0	0	28.83	28.83	28.83
4698	0.73	246.1	3584	2329	1991	1714	157.6	10.9	442	4709	0.00	0.00	0.00	0.000	6	0.000	0.000	3588	2329	1852	1992	1713	0	0	0	0	0	0	28.83	28.83	28.83
4952	0.73	246.1	3588	2330	1991	1715	128.1	12.0	467	4963	0.00	2.53	0.00	0.000	516	0.000	0.076	3587	920	1853	1991	1715	0	0	0	0	0	0	28.83	13.97	28.83
5025	0.73	246.1	3588	920	1986	1716	119.9	10.9	474	5036	0.12	2.50	0.00	0.000	5126	0.223	0.067	3559	2331	1854	1992	1717	0	0	0	0	0	0	13.83	14.03	28.83
5277	0.75	246.1	3559	2330	1992	1716	98.9	6.5	499	5288	0.00	2.55	0.00	0.000	260	0.000	0.082	3559	3733	1853	1991	1716	0	0	0	0	0	0	28.83	13.95	28.83
5351	0.75	246.1	3559	3733	1991	1716	94.1	6.9	506	5362	0.00	2.50	0.00	0.000	1030	0.000	0.059	3562	2320	1853	1991	1715	0	0	0	0	0	0	28.83	13.97	28.83
5604	0.75	246.1	3563	2316	1991	1716	78.8	7.5	531	5615	0.00	2.50	0.00	0.000	516	0.000	0.075	3562	924	1852	1991	1713	0	0	0	0	0	0	28.83	13.93	28.83
5721	0.75	246.1	3562	924	1991	1716	70.2	7.1	542	5732	0.00	2.53	0.00	0.000	1030	0.000	0.066	3563	2341	1853	1991	1716	0	0	0	0	0	0	28.83	13.93	28.83
5974	0.77	246.1	3562	2341	1991	1716	54.4	6.3	567	5985	0.00	2.55	0.00	0.000	260	0.000	0.082	3562	3734	1853	1991	1716	0	0	0	0	0	0	28.83	13.92	28.83
6126	0.79	246.1	3562	3734	1991	1716	44.9	6.0	582	6137	0.00	2.50	0.00	0.000	1030	0.000	0.059	3562	2325	1853	1991	1716	0	0	0	0	0	0	28.83	13.97	28.83
6380	0.81	246.1	3562	2322	1991	1716	31.2	6.2	607	6391	0.00	2.50	0.00	0.000	516	0.000	0.074	3558	928	1853	1991	1716	0	0	0	0	0	0	28.83	13.90	28.83
6476	0.85	246.1	3562	928	1989	1716	25.4	5.8	616	6488	0.12	2.50	0.00	0.000	3078	0.133	0.065	3618	2327	1853	1991	1716	0	0	0	0	0	0	14.00	13.97	28.83
6730	0.86	246.1	3617	2330	1991	1716	10.0	6.8	641	6741	0.00	0.00	0.00	0.000	6	0.000	0.000	3619	2327	1855	1991	1720	0	0	0	0	0	0	28.83	28.83	28.83
6817	end climb: SURFACE_DEPTH_REACHED
state	6817	begin surface coast
6868	end surface coast: CONTROL_FINISHED_OK
state	6868	begin surface