Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 822 * 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 822 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 33 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 36 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 -1595491.8 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 -1595491.8

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 33 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DIVE 822 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 210115,075029,4753.316,-12515.401,35,1.7,39,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 3 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.61 MHEAD_RNG_PITCHd_Wd 139.4,7047,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -74.1 D_GRID 232

GPS2 210115,080318,4753.429,-12515.482,11,1.5,11,18.8

Post-dive calculations and measurements:

FINISH 1.5,1.011961 _10V_AH 13.3,0.000

SM_CCo 6182,23.40,0.090,0,0,1430,350.04 FG_AHR_24Vo 0.000

SM_GC 2.78,9.30,0.12,23.40,0.057,0.150,0.090,397,2413,1430,-9.09,-0.85,350.04,0,0,0,0,0,0,14.08,14.10,14.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12513.98,210115,070714 MEM 290792

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 20110,603

HUMID 51.26 CAP_FILE_SIZE 110094,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260034560,171405312

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 0,7834.48,0x2378ba,7,5

SC_FREEKB 3674944 CURRENT 0.227, 3.7,1

PM_FREEKB 36663232 GPS 210115,094835,4753.594,-12515.095,28,1.7,28,18.8

_24V_AH 13.4,208.018

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 356 109.87 nil 0 0 0.00

Roll_motor 71 149 142.95 nil 0 0 0.00

VBD_pump_during_apogee 322 954 4125.18 nil 0 0 0.00

VBD_pump_during_surface 23 89 28.07 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 6181 8 688.86

Iridium_during_xfer 359 166 798.81 PMAR 2585 4 142.64

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.56

TT8 1422 10 193.30

LPSleep 3066 2 89.33

TT8_Active 483 10 65.70

TT8_Sampling 1427 28 549.44

TT8_CF8 562 35 266.87

TT8_Kalman 0 0 0.00

Analog_circuits 1464 10 194.77

GPS_charging 0 0 0.00

Compass 940 0 9.39

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

32 -0.59 -116.8 392 2414 1540 1327 0.0 0.0 0 84 0.00 0.00 -47.20 0.000 16386 0.000 0.000 392 2414 2641 2724 2558 0 0 0 0 0 0 28.83 28.83 28.83

92 -0.59 -116.8 392 2411 2724 2559 3.3 -1.6 5 128 12.27 2.60 -16.25 0.000 18948 0.356 0.094 3125 999 3337 3382 3293 0 0 0 0 0 0 13.73 13.98 14.37

229 -0.59 -116.8 3125 999 3383 3295 23.0 -12.6 19 238 0.00 2.53 0.00 0.000 1030 0.000 0.070 3125 2397 3339 3383 3295 0 0 0 0 0 0 28.83 13.96 28.83

481 -0.59 -116.8 3122 2392 3383 3295 55.3 -13.5 44 490 0.00 2.60 0.00 0.000 260 0.000 0.085 3125 3812 3338 3382 3295 0 0 0 0 0 0 28.83 13.78 28.83

581 -0.59 -116.8 3125 3812 3382 3295 68.3 -13.1 54 590 0.00 2.50 0.00 0.000 1030 0.000 0.057 3125 2399 3338 3382 3295 0 0 0 0 0 0 28.83 13.93 28.83

832 -0.59 -116.8 3122 2394 3382 3295 98.3 -10.1 79 842 0.00 2.53 0.00 0.000 516 0.000 0.070 3125 986 3339 3383 3295 0 0 0 0 0 0 28.83 13.88 28.83

873 -0.59 -116.8 3125 985 3383 3296 102.3 -9.7 83 882 0.00 2.55 0.00 0.000 1030 0.000 0.068 3125 2394 3338 3382 3295 0 0 0 0 0 0 28.83 13.91 28.83

1124 -0.59 -116.8 3122 2394 3383 3295 122.6 -7.3 108 1132 0.00 2.60 0.00 0.000 260 0.000 0.083 3125 3818 3339 3383 3296 0 0 0 0 0 0 28.83 13.85 28.83

1275 -0.59 -116.8 3125 3817 3383 3296 132.9 -6.9 123 1284 0.00 2.50 0.00 0.000 1030 0.000 0.057 3125 2393 3340 3384 3296 0 0 0 0 0 0 28.83 13.93 28.83

1526 -0.59 -116.8 3122 2393 3383 3296 152.2 -8.3 148 1535 0.00 2.53 0.00 0.000 516 0.000 0.070 3125 995 3339 3383 3296 0 0 0 0 0 0 28.83 13.85 28.83

1568 -0.59 -116.8 3125 995 3384 3296 155.6 -8.3 152 1576 0.00 2.53 0.00 0.000 1030 0.000 0.067 3125 2404 3340 3383 3297 0 0 0 0 0 0 28.83 13.89 28.83

1819 -0.59 -116.8 3125 2403 3387 3296 177.3 -8.4 177 1828 0.00 2.60 0.00 0.000 260 0.000 0.086 3125 3820 3338 3383 3293 0 0 0 0 0 0 28.83 13.83 28.83

1919 -0.59 -116.8 3125 3822 3383 3296 186.1 -8.5 187 1929 0.00 2.50 0.00 0.000 1030 0.000 0.057 3130 2403 3339 3383 3296 0 0 0 0 0 0 28.83 13.92 28.83

2171 -0.59 -116.8 3125 2401 3383 3296 208.0 -8.6 212 2179 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2401 3344 3389 3299 0 0 0 0 0 0 28.83 28.83 28.83

2422 -0.59 -116.8 3125 2402 3383 3296 229.8 -8.9 237 2430 0.00 2.60 0.00 0.000 260 0.000 0.085 3125 3809 3339 3383 3296 0 0 0 0 0 0 28.83 13.82 28.83

2447 end dive: TARGET_DEPTH_EXCEEDED

state 2447 begin apogee

2461 -0.25 0.0 3128 2325 3383 3296 232.6 -8.9 240 2560 0.38 0.00 92.62 0.955 10246 0.176 0.000 3234 2324 2856 2926 2786 0 0 0 0 0 0 13.59 28.83 13.50

2569 end apogee: CONTROL_FINISHED_OK

state 2569 begin climb

2574 0.59 116.8 3234 2324 2926 2782 238.9 0.0 251 2684 0.85 0.00 93.18 0.939 10246 0.125 0.000 3508 2324 2377 2505 2249 0 0 0 0 0 0 13.86 28.83 13.40

2925 0.65 204.4 3508 2324 2507 2251 232.0 3.7 287 3004 0.00 0.00 68.22 0.937 8198 0.000 0.000 3508 2324 2022 2164 1881 0 0 0 0 0 0 28.83 28.83 13.47

3250 0.67 204.4 3507 2325 2164 1881 213.7 6.3 319 3261 0.10 2.62 0.00 0.000 2308 0.153 0.080 3558 3754 2022 2164 1881 0 0 0 0 0 0 14.13 13.97 28.83

3293 0.67 204.4 3558 3754 2164 1881 209.9 8.1 323 3304 0.00 2.53 0.00 0.000 1030 0.000 0.060 3561 2320 2025 2170 1881 0 0 0 0 0 0 28.83 14.04 28.83

3545 0.67 204.4 3562 2320 2164 1881 187.9 8.4 348 3557 0.00 2.47 0.00 0.000 516 0.000 0.076 3562 935 2025 2170 1881 0 0 0 0 0 0 28.83 13.98 28.83

3609 0.67 204.4 3563 938 2159 1882 182.4 8.6 354 3620 0.00 2.47 0.00 0.000 1030 0.000 0.065 3562 2337 2023 2164 1882 0 0 0 0 0 0 28.83 14.04 28.83

3863 0.67 204.4 3561 2337 2164 1882 161.0 8.5 379 3873 0.00 2.53 0.00 0.000 260 0.000 0.082 3563 3733 2023 2164 1882 0 0 0 0 0 0 28.83 14.00 28.83

3914 0.67 204.4 3562 3733 2164 1882 156.0 9.8 384 3926 0.00 2.47 0.00 0.000 1030 0.000 0.060 3562 2332 2023 2164 1882 0 0 0 0 0 0 28.83 14.04 28.83

4168 0.67 204.4 3563 2332 2165 1882 134.1 8.6 409 4178 0.00 2.55 0.00 0.000 516 0.000 0.075 3562 915 2023 2164 1882 0 0 0 0 0 0 28.83 13.94 28.83

4285 0.67 204.4 3562 915 2164 1882 124.3 8.3 420 4297 0.00 2.50 0.00 0.000 1030 0.000 0.066 3562 2328 2023 2164 1882 0 0 0 0 0 0 28.83 14.02 28.83

4540 0.67 204.4 3562 2327 2164 1882 103.4 7.9 445 4549 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2327 2023 2164 1882 0 0 0 0 0 0 28.83 28.83 28.83

4792 0.70 204.4 3565 2327 2164 1882 84.8 6.2 470 4803 0.00 2.55 0.00 0.000 516 0.000 0.075 3562 916 2023 2164 1882 0 0 0 0 0 0 28.83 13.93 28.83

4890 0.74 204.4 3562 915 2165 1882 79.6 5.4 479 4901 0.00 2.53 0.00 0.000 1030 0.000 0.066 3562 2343 2023 2165 1882 0 0 0 0 0 0 28.83 14.01 28.83

5144 0.80 294.9 3562 2342 2164 1883 69.1 3.5 504 5221 0.00 0.00 68.43 0.763 8710 0.000 0.000 3562 2343 1650 1798 1503 0 0 0 0 0 0 28.83 28.83 13.64

5468 0.81 294.9 3562 2342 1798 1503 49.4 6.7 536 5479 0.00 2.53 0.00 0.000 260 0.000 0.085 3567 3731 1649 1796 1503 0 0 0 0 0 0 28.83 13.95 28.83

5561 0.81 294.9 3563 3728 1797 1503 42.5 7.2 545 5571 0.00 2.47 0.00 0.000 1030 0.000 0.060 3564 2326 1650 1797 1503 0 0 0 0 0 0 28.83 14.02 28.83

5813 0.83 294.9 3562 2321 1797 1502 26.7 6.2 570 5824 0.00 2.50 0.00 0.000 516 0.000 0.075 3562 921 1650 1797 1503 0 0 0 0 0 0 28.83 13.95 28.83

5877 0.86 294.9 3562 926 1797 1503 22.7 6.2 576 5889 0.10 2.47 0.00 0.000 3078 0.155 0.067 3615 2326 1650 1798 1503 0 0 0 0 0 0 14.01 14.00 28.83

6105 end climb: SURFACE_DEPTH_REACHED

state 6105 begin surface coast

6152 end surface coast: CONTROL_FINISHED_OK

state 6152 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	822	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	33	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	36	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	-1595491.8	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	210115,075029,4753.316,-12515.401,35,1.7,39,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	3	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.61	MHEAD_RNG_PITCHd_Wd	139.4,7047,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-74.1	D_GRID	232
GPS2	210115,080318,4753.429,-12515.482,11,1.5,11,18.8

FINISH	1.5,1.011961	_10V_AH	13.3,0.000
SM_CCo	6182,23.40,0.090,0,0,1430,350.04	FG_AHR_24Vo	0.000
SM_GC	2.78,9.30,0.12,23.40,0.057,0.150,0.090,397,2413,1430,-9.09,-0.85,350.04,0,0,0,0,0,0,14.08,14.10,14.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12513.98,210115,070714	MEM	290792
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	20110,603
HUMID	51.26	CAP_FILE_SIZE	110094,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260034560,171405312
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	0,7834.48,0x2378ba,7,5
SC_FREEKB	3674944	CURRENT	0.227, 3.7,1
PM_FREEKB	36663232	GPS	210115,094835,4753.594,-12515.095,28,1.7,28,18.8
_24V_AH	13.4,208.018

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	356	109.87	nil	0	0	0.00
Roll_motor	71	149	142.95	nil	0	0	0.00
VBD_pump_during_apogee	322	954	4125.18	nil	0	0	0.00
VBD_pump_during_surface	23	89	28.07	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	6181	8	688.86
Iridium_during_xfer	359	166	798.81	PMAR	2585	4	142.64
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.56
TT8	1422	10	193.30
LPSleep	3066	2	89.33
TT8_Active	483	10	65.70
TT8_Sampling	1427	28	549.44
TT8_CF8	562	35	266.87
TT8_Kalman	0	0	0.00
Analog_circuits	1464	10	194.77
GPS_charging	0	0	0.00
Compass	940	0	9.39
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
32	-0.59	-116.8	392	2414	1540	1327	0.0	0.0	0	84	0.00	0.00	-47.20	0.000	16386	0.000	0.000	392	2414	2641	2724	2558	0	0	0	0	0	0	28.83	28.83	28.83
92	-0.59	-116.8	392	2411	2724	2559	3.3	-1.6	5	128	12.27	2.60	-16.25	0.000	18948	0.356	0.094	3125	999	3337	3382	3293	0	0	0	0	0	0	13.73	13.98	14.37
229	-0.59	-116.8	3125	999	3383	3295	23.0	-12.6	19	238	0.00	2.53	0.00	0.000	1030	0.000	0.070	3125	2397	3339	3383	3295	0	0	0	0	0	0	28.83	13.96	28.83
481	-0.59	-116.8	3122	2392	3383	3295	55.3	-13.5	44	490	0.00	2.60	0.00	0.000	260	0.000	0.085	3125	3812	3338	3382	3295	0	0	0	0	0	0	28.83	13.78	28.83
581	-0.59	-116.8	3125	3812	3382	3295	68.3	-13.1	54	590	0.00	2.50	0.00	0.000	1030	0.000	0.057	3125	2399	3338	3382	3295	0	0	0	0	0	0	28.83	13.93	28.83
832	-0.59	-116.8	3122	2394	3382	3295	98.3	-10.1	79	842	0.00	2.53	0.00	0.000	516	0.000	0.070	3125	986	3339	3383	3295	0	0	0	0	0	0	28.83	13.88	28.83
873	-0.59	-116.8	3125	985	3383	3296	102.3	-9.7	83	882	0.00	2.55	0.00	0.000	1030	0.000	0.068	3125	2394	3338	3382	3295	0	0	0	0	0	0	28.83	13.91	28.83
1124	-0.59	-116.8	3122	2394	3383	3295	122.6	-7.3	108	1132	0.00	2.60	0.00	0.000	260	0.000	0.083	3125	3818	3339	3383	3296	0	0	0	0	0	0	28.83	13.85	28.83
1275	-0.59	-116.8	3125	3817	3383	3296	132.9	-6.9	123	1284	0.00	2.50	0.00	0.000	1030	0.000	0.057	3125	2393	3340	3384	3296	0	0	0	0	0	0	28.83	13.93	28.83
1526	-0.59	-116.8	3122	2393	3383	3296	152.2	-8.3	148	1535	0.00	2.53	0.00	0.000	516	0.000	0.070	3125	995	3339	3383	3296	0	0	0	0	0	0	28.83	13.85	28.83
1568	-0.59	-116.8	3125	995	3384	3296	155.6	-8.3	152	1576	0.00	2.53	0.00	0.000	1030	0.000	0.067	3125	2404	3340	3383	3297	0	0	0	0	0	0	28.83	13.89	28.83
1819	-0.59	-116.8	3125	2403	3387	3296	177.3	-8.4	177	1828	0.00	2.60	0.00	0.000	260	0.000	0.086	3125	3820	3338	3383	3293	0	0	0	0	0	0	28.83	13.83	28.83
1919	-0.59	-116.8	3125	3822	3383	3296	186.1	-8.5	187	1929	0.00	2.50	0.00	0.000	1030	0.000	0.057	3130	2403	3339	3383	3296	0	0	0	0	0	0	28.83	13.92	28.83
2171	-0.59	-116.8	3125	2401	3383	3296	208.0	-8.6	212	2179	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2401	3344	3389	3299	0	0	0	0	0	0	28.83	28.83	28.83
2422	-0.59	-116.8	3125	2402	3383	3296	229.8	-8.9	237	2430	0.00	2.60	0.00	0.000	260	0.000	0.085	3125	3809	3339	3383	3296	0	0	0	0	0	0	28.83	13.82	28.83
2447	end dive: TARGET_DEPTH_EXCEEDED
state	2447	begin apogee
2461	-0.25	0.0	3128	2325	3383	3296	232.6	-8.9	240	2560	0.38	0.00	92.62	0.955	10246	0.176	0.000	3234	2324	2856	2926	2786	0	0	0	0	0	0	13.59	28.83	13.50
2569	end apogee: CONTROL_FINISHED_OK
state	2569	begin climb
2574	0.59	116.8	3234	2324	2926	2782	238.9	0.0	251	2684	0.85	0.00	93.18	0.939	10246	0.125	0.000	3508	2324	2377	2505	2249	0	0	0	0	0	0	13.86	28.83	13.40
2925	0.65	204.4	3508	2324	2507	2251	232.0	3.7	287	3004	0.00	0.00	68.22	0.937	8198	0.000	0.000	3508	2324	2022	2164	1881	0	0	0	0	0	0	28.83	28.83	13.47
3250	0.67	204.4	3507	2325	2164	1881	213.7	6.3	319	3261	0.10	2.62	0.00	0.000	2308	0.153	0.080	3558	3754	2022	2164	1881	0	0	0	0	0	0	14.13	13.97	28.83
3293	0.67	204.4	3558	3754	2164	1881	209.9	8.1	323	3304	0.00	2.53	0.00	0.000	1030	0.000	0.060	3561	2320	2025	2170	1881	0	0	0	0	0	0	28.83	14.04	28.83
3545	0.67	204.4	3562	2320	2164	1881	187.9	8.4	348	3557	0.00	2.47	0.00	0.000	516	0.000	0.076	3562	935	2025	2170	1881	0	0	0	0	0	0	28.83	13.98	28.83
3609	0.67	204.4	3563	938	2159	1882	182.4	8.6	354	3620	0.00	2.47	0.00	0.000	1030	0.000	0.065	3562	2337	2023	2164	1882	0	0	0	0	0	0	28.83	14.04	28.83
3863	0.67	204.4	3561	2337	2164	1882	161.0	8.5	379	3873	0.00	2.53	0.00	0.000	260	0.000	0.082	3563	3733	2023	2164	1882	0	0	0	0	0	0	28.83	14.00	28.83
3914	0.67	204.4	3562	3733	2164	1882	156.0	9.8	384	3926	0.00	2.47	0.00	0.000	1030	0.000	0.060	3562	2332	2023	2164	1882	0	0	0	0	0	0	28.83	14.04	28.83
4168	0.67	204.4	3563	2332	2165	1882	134.1	8.6	409	4178	0.00	2.55	0.00	0.000	516	0.000	0.075	3562	915	2023	2164	1882	0	0	0	0	0	0	28.83	13.94	28.83
4285	0.67	204.4	3562	915	2164	1882	124.3	8.3	420	4297	0.00	2.50	0.00	0.000	1030	0.000	0.066	3562	2328	2023	2164	1882	0	0	0	0	0	0	28.83	14.02	28.83
4540	0.67	204.4	3562	2327	2164	1882	103.4	7.9	445	4549	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2327	2023	2164	1882	0	0	0	0	0	0	28.83	28.83	28.83
4792	0.70	204.4	3565	2327	2164	1882	84.8	6.2	470	4803	0.00	2.55	0.00	0.000	516	0.000	0.075	3562	916	2023	2164	1882	0	0	0	0	0	0	28.83	13.93	28.83
4890	0.74	204.4	3562	915	2165	1882	79.6	5.4	479	4901	0.00	2.53	0.00	0.000	1030	0.000	0.066	3562	2343	2023	2165	1882	0	0	0	0	0	0	28.83	14.01	28.83
5144	0.80	294.9	3562	2342	2164	1883	69.1	3.5	504	5221	0.00	0.00	68.43	0.763	8710	0.000	0.000	3562	2343	1650	1798	1503	0	0	0	0	0	0	28.83	28.83	13.64
5468	0.81	294.9	3562	2342	1798	1503	49.4	6.7	536	5479	0.00	2.53	0.00	0.000	260	0.000	0.085	3567	3731	1649	1796	1503	0	0	0	0	0	0	28.83	13.95	28.83
5561	0.81	294.9	3563	3728	1797	1503	42.5	7.2	545	5571	0.00	2.47	0.00	0.000	1030	0.000	0.060	3564	2326	1650	1797	1503	0	0	0	0	0	0	28.83	14.02	28.83
5813	0.83	294.9	3562	2321	1797	1502	26.7	6.2	570	5824	0.00	2.50	0.00	0.000	516	0.000	0.075	3562	921	1650	1797	1503	0	0	0	0	0	0	28.83	13.95	28.83
5877	0.86	294.9	3562	926	1797	1503	22.7	6.2	576	5889	0.10	2.47	0.00	0.000	3078	0.155	0.067	3615	2326	1650	1798	1503	0	0	0	0	0	0	14.01	14.00	28.83
6105	end climb: SURFACE_DEPTH_REACHED
state	6105	begin surface coast
6152	end surface coast: CONTROL_FINISHED_OK
state	6152	begin surface