Glider dive log

Kona Oct17 * SG204 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 41 ALTIM_FREQUENCY 13

MISSION 21 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 31 ALTIM_PULSE 2

DIVE 5 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

N_DIVES 6 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 5

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0.60000002

D_TGT 400 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 3145 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0014 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 3

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 120 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 140 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_W 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_24V 150 SIM_PITCH 0

USE_ICE 0 PITCH_MIN 210 AH0_10V 97 SEABIRD_T_G 0.0043580476

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_24V 20 SEABIRD_T_H 0.00063004985

D_OFFGRID 1010 C_PITCH 3090 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

RELAUNCH 1 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

MAX_BUOY 250 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

COURSE_BIAS 0 PITCH_GAIN 22 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_YINT -171.85684 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

RHO 1.026 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

MASS 52527 PITCH_ADJ_GAIN 0.029999999 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 PM_PROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_N 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

HD_A 0.0044816299 C_ROLL_DIVE 2400 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2800 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_24V 150 FERRY_MAX 45 PITCH_GAIN 22 SEABIRD_T_J 2.6474129e-06

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MIN 210 SM_CC 500

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_N 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0014 STOP_T 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_DBAND 0 STROBE 0

ALTIM_SENSITIVITY 2 HD_A 0.0044816299 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAPDBG 0 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ID 204 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PRESSURE_YINT -171.85684 T_BOOST 4

CF8_MAXERRORS 20 KALMAN_USE 2 PROTOCOL 9 T_DIVE 120

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT 0.039999999 T_EPIRB 0

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_MISSION 140

COURSE_BIAS 0 LOGGERS 3 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_PITCH 3090 LOITER_DBDW 0 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_CLIMB 2800 LOITER_D_NO_PUMP 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_DIVE 2400 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD 3145 MASS 52527 RHO 1.026 T_WATCHDOG 10

DBDW 0 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE2 -1 MAX_BUOY 250 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE3 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MINV_24V 20 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE5 -1 MISSION 21 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DIVE 5 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1010 NOCOMM_ACTION 163 R_PORT_OVSHOOT 41 VBD_MAXERRORS 1

D_BOOST 50 N_DIVES 6 R_STBD_OVSHOOT 31 VBD_MIN 500

D_CALL 0 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_FINISH 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FLARE 3 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_NO_BLEED 200 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_OFFGRID 1010 PHONE_DEVICE 49 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_PITCH 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 90

D_SAFE 0 PITCH_ADJ_DBAND 1 SEABIRD_C_I -0.00012417733 XPDR_VALID 5

D_SURF 2 PITCH_ADJ_GAIN 0.029999999 SEABIRD_C_J 0.00011025551

D_TGT 400 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043580476

Pre-dive calculations and measurements:

GPS1 061017,224727,1941.4103,-15604.0645,1,1.3,3,9.5,0.6,310.9,9,10.0 SPEED_LIMITS 0.192,0.249

_CALLS 1 TGT_NAME SHELF1

_XMS_NAKs 0 TGT_LATLONG 1940.500,-15603.600

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.01 MHEAD_RNG_PITCHd_Wd 150.0,1949,-20.0,-11.111,-24.05,3369

_SM_ANGLEo -66.7 D_GRID 794

GPS2 061017,224933,1941.4493,-15604.0820,2,1.5,5,9.5,0.9,316.4,8,9.0

Post-dive calculations and measurements:

FINISH 0.2,1.009687 PM_FREEKB_06 62335808

SM_CCo 7392,75.40,0.122,0,0,1103,500.17 PM_FREEKB_07 62336576

SM_GC 0.91,9.40,0.60,75.40,0.068,0.045,0.122,174,2403,1103,-8.97,1.33,500.17,0,0,0,0,0,0,26.63,26.51,25.89 PM_ACTIVECARD 0

IRIDIUM_FIX 1938.19,-15603.88,061017,224540 _24V_AH 24.43,19.406

TT8_MAMPS 0.044191,0.304843 _10V_AH 10.35,0.483

HUMID 57.71 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.36987 FG_AHR_10Vo 0.000

TCM_TEMP 24.00 MEM 216092

XPDR_PINGS 435 DATA_FILE_SIZE 23370,646

PM_FREEKB_00 55433152 CAP_FILE_SIZE 89375,0

PM_FREEKB_01 62268672 CFSIZE 260030464,257802240

PM_FREEKB_02 62335808 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

PM_FREEKB_03 62335808 CURRENT 0.105,341.54,1

PM_FREEKB_04 62336320 GPS 071017,005525,1941.304,-15604.324,19,1.1,30,9.5,0.3,359.2,8,7.3

PM_FREEKB_05 62335808

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 243 145.90 nil 0 0 0.00

Roll_motor 66 1169 1890.98 nil 0 0 0.00

VBD_pump_during_apogee 521 685 8731.00 nil 0 0 0.00

VBD_pump_during_surface 75 122 225.46 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 7367 4 860.28

Iridium_during_xfer 0 0 0.00 PMAR 7377 39 7154.02

Transponder_ping 108 420 1115.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 12 0.93

TT8 0 0 0.00

LPSleep 5324 2 120.70

TT8_Active 718 13 99.05

TT8_Sampling 1439 44 656.09

TT8_CF8 51 55 29.33

TT8_Kalman 0 0 0.00

Analog_circuits 1270 11 149.93

GPS_charging 0 0 0.00

Compass 1115 8 95.14

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -1.25 -243.7 199 2405 1168 1049 0.0 0.0 0 117 0.00 0.00 -102.25 0.000 16386 0.000 0.000 199 2404 3587 3525 3650 0 0 0 0 0 0 27.10 28.83 27.16

119 -1.25 -243.7 199 2404 3526 3651 3.2 -4.4 10 142 10.98 2.33 -7.75 0.000 18724 0.243 1.170 2670 3696 3962 3909 4016 0 0 0 0 0 0 25.41 24.43 25.65

182 -1.00 -243.7 2669 3697 3910 4017 19.7 -20.9 22 187 0.28 1.98 0.00 0.000 3206 0.190 0.039 2767 2402 3963 3910 4016 0 0 0 0 0 0 25.37 26.52 25.72

492 -1.00 -243.7 2767 2403 3912 4017 62.5 -12.7 48 498 0.00 2.08 0.00 0.000 260 0.000 0.061 2758 3688 3963 3911 4016 0 0 0 0 0 0 27.14 26.13 27.20

542 -1.00 -243.7 2758 3689 3912 4017 69.0 -12.9 58 548 0.00 1.98 0.00 0.000 1030 0.000 0.041 2766 2402 3964 3912 4016 0 0 0 0 0 0 26.55 26.51 26.58

853 -1.07 -243.7 2767 2403 3914 4016 102.8 -10.8 70 858 0.00 2.15 0.00 0.000 676 0.000 0.044 2777 987 3964 3913 4016 0 0 0 0 0 0 27.15 26.31 27.20

897 -1.18 -243.7 2777 987 3914 4016 107.4 -10.1 79 903 0.15 2.22 0.00 0.000 5286 0.090 0.048 2706 2395 3964 3913 4016 0 0 0 0 0 0 26.08 26.27 26.16

1213 -1.18 -243.7 2706 2394 3915 4015 143.3 -11.3 92 1218 0.00 2.05 0.00 0.000 260 0.000 0.060 2695 3700 3965 3914 4016 0 0 0 0 0 0 27.15 26.10 27.21

1353 -1.18 -243.7 2696 3701 3915 4017 159.8 -11.6 120 1359 0.00 1.98 0.00 0.000 1030 0.000 0.039 2695 2400 3965 3914 4016 0 0 0 0 0 0 26.57 26.54 26.68

1664 -1.22 -243.7 2696 2402 3916 4017 191.1 -9.3 132 1670 0.00 2.05 0.00 0.000 420 0.000 0.061 2686 3700 3965 3915 4016 0 0 0 0 0 0 27.15 26.09 27.20

1739 -1.22 -243.7 2686 3701 3916 4017 198.6 -10.4 147 1744 0.00 1.98 0.00 0.000 1062 0.000 0.040 2691 2402 3965 3915 4016 0 0 0 0 0 0 26.56 26.53 26.59

2055 -1.29 -243.7 2691 2403 3915 4017 226.0 -8.0 160 2056 0.00 0.00 0.00 0.000 166 0.000 0.000 2691 2402 3965 3915 4016 0 0 0 0 0 0 27.14 27.22 27.20

2355 -1.36 -243.7 2691 2402 3916 4015 252.0 -9.0 170 2360 0.12 2.08 0.00 0.000 4516 0.145 0.060 2649 3719 3965 3915 4016 0 0 0 0 0 0 26.70 26.05 26.73

2380 -1.36 -243.7 2649 3719 3916 4015 254.4 -10.0 175 2385 0.00 2.03 0.00 0.000 1062 0.000 0.039 2655 2393 3965 3915 4016 0 0 0 0 0 0 26.55 26.51 26.59

2715 -1.36 -243.7 2657 2394 3915 4015 283.0 -8.3 187 2720 0.00 2.10 0.00 0.000 292 0.000 0.065 2649 3706 3963 3913 4013 0 0 0 0 0 0 27.13 25.96 27.20

2735 -1.36 -243.7 2650 3705 3914 4013 284.9 -9.4 191 2740 0.00 2.03 0.00 0.000 1062 0.000 0.044 2657 2401 3963 3913 4013 0 0 0 0 0 0 26.48 26.44 26.51

3075 -1.36 -243.7 2657 2402 3910 4013 318.7 -10.1 204 3081 0.00 2.08 0.00 0.000 292 0.000 0.061 2649 3704 3959 3909 4010 0 0 0 0 0 0 27.13 25.98 27.20

3191 -1.36 -243.7 2649 3704 3909 4011 331.2 -10.5 227 3197 0.00 2.05 0.00 0.000 1062 0.000 0.044 2657 2383 3959 3908 4010 0 0 0 0 0 0 26.44 26.40 26.48

3496 -1.40 -243.7 2657 2382 3909 4006 363.1 -10.5 233 3501 0.00 2.10 0.00 0.000 420 0.000 0.063 2648 3697 3957 3908 4006 0 0 0 0 0 0 27.09 25.89 27.15

3525 -1.40 -243.7 2650 3698 3908 4007 366.2 -10.0 239 3531 0.00 2.00 0.00 0.000 1062 0.000 0.041 2657 2397 3956 3907 4006 0 0 0 0 0 0 26.47 26.44 26.51

3856 -1.45 -243.7 2657 2397 3906 4000 395.0 -8.6 250 3861 0.00 2.10 0.00 0.000 420 0.000 0.065 2648 3698 3952 3904 4001 0 0 0 0 0 0 27.07 25.82 27.13

3909 end dive: TARGET_DEPTH_EXCEEDED

state 3909 begin apogee

3914 -0.23 0.0 2655 2806 3905 4000 400.1 -9.2 261 4161 1.30 0.00 243.90 0.640 10246 0.165 0.000 3006 2806 3143 3180 3107 0 0 0 0 0 0 24.63 25.56 24.77

4162 end apogee: CONTROL_FINISHED_OK

state 4162 begin climb

4163 1.25 243.7 3007 2808 3174 3101 407.1 0.0 265 4382 1.50 1.48 208.60 0.685 10500 0.113 0.057 3488 3708 2139 2190 2089 0 0 0 0 0 0 25.59 25.26 24.75

4541 0.98 243.7 3488 3709 2168 2072 343.3 20.2 343 4547 0.30 1.40 0.00 0.000 5254 0.164 0.035 3408 2788 2118 2167 2069 0 0 0 0 0 0 25.58 24.97 25.71

4872 0.90 243.7 3409 2789 2166 2066 295.5 14.1 354 4877 0.00 2.10 0.00 0.000 644 0.000 0.035 3417 1390 2114 2165 2064 0 0 0 0 0 0 27.03 26.34 27.10

5096 0.85 243.7 3417 1390 2163 2065 261.2 16.1 399 5102 0.17 2.22 0.00 0.000 5254 0.161 0.041 3367 2802 2112 2162 2062 0 0 0 0 0 0 25.56 26.22 25.67

5412 0.85 243.7 3367 2802 2161 2060 218.8 12.8 410 5416 0.00 2.12 0.00 0.000 516 0.000 0.037 3376 1404 2110 2160 2060 0 0 0 0 0 0 27.08 26.26 27.14

5641 0.89 243.7 3376 1404 2159 2060 191.5 11.6 456 5647 0.00 2.22 0.00 0.000 1158 0.000 0.046 3372 2804 2108 2157 2060 0 0 0 0 0 0 26.14 26.09 26.20

5952 0.92 265.0 3372 2804 2157 2057 158.5 10.5 468 5979 0.00 2.22 17.33 0.529 8740 0.000 0.040 3381 1399 2059 2111 2007 0 0 0 0 1 0 27.09 26.02 25.10

6104 0.98 265.0 3381 1398 2113 2007 141.9 11.3 498 6109 0.00 2.20 0.00 0.000 1158 0.000 0.048 3380 2802 2059 2111 2007 0 0 0 0 0 0 26.25 26.13 26.29

6434 1.12 328.3 3380 2804 2110 2009 106.5 9.2 514 6490 0.20 2.25 41.33 0.685 10916 0.135 0.041 3451 1404 1809 1875 1743 0 0 0 0 1 0 26.29 25.72 24.61

6713 1.12 328.3 3452 1404 1894 1756 75.5 11.4 570 6720 0.00 2.22 2.58 0.326 9222 0.000 0.047 3442 2805 1803 1867 1740 0 0 0 0 0 0 26.22 26.17 24.95

7025 1.16 328.3 3443 2805 1890 1751 40.5 11.3 589 7036 0.00 2.22 2.00 0.172 8836 0.000 0.039 3451 1403 1806 1873 1739 0 0 0 0 0 0 27.06 25.76 25.45

7236 1.23 335.9 3451 1403 1891 1754 17.4 10.9 631 7249 0.15 2.17 5.68 0.161 11430 0.163 0.048 3488 2800 1774 1840 1708 0 0 0 0 0 0 25.79 26.08 25.49

7365 end climb: SURFACE_DEPTH_REACHED

state 7365 begin surface coast

7376 end surface coast: CONTROL_FINISHED_OK

state 7376 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	41	ALTIM_FREQUENCY	13
MISSION	21	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	31	ALTIM_PULSE	2
DIVE	5	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
N_DIVES	6	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	5
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0.60000002
D_TGT	400	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	3145	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0014	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	3
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	120	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	140	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_W	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_24V	150	SIM_PITCH	0
USE_ICE	0	PITCH_MIN	210	AH0_10V	97	SEABIRD_T_G	0.0043580476
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_24V	20	SEABIRD_T_H	0.00063004985
D_OFFGRID	1010	C_PITCH	3090	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
RELAUNCH	1	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
MAX_BUOY	250	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
COURSE_BIAS	0	PITCH_GAIN	22	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_YINT	-171.85684	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
RHO	1.026	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
MASS	52527	PITCH_ADJ_GAIN	0.029999999	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	PM_PROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_N	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
HD_A	0.0044816299	C_ROLL_DIVE	2400	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2800	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	061017,224727,1941.4103,-15604.0645,1,1.3,3,9.5,0.6,310.9,9,10.0	SPEED_LIMITS	0.192,0.249
_CALLS	1	TGT_NAME	SHELF1
_XMS_NAKs	0	TGT_LATLONG	1940.500,-15603.600
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.01	MHEAD_RNG_PITCHd_Wd	150.0,1949,-20.0,-11.111,-24.05,3369
_SM_ANGLEo	-66.7	D_GRID	794
GPS2	061017,224933,1941.4493,-15604.0820,2,1.5,5,9.5,0.9,316.4,8,9.0

FINISH	0.2,1.009687	PM_FREEKB_06	62335808
SM_CCo	7392,75.40,0.122,0,0,1103,500.17	PM_FREEKB_07	62336576
SM_GC	0.91,9.40,0.60,75.40,0.068,0.045,0.122,174,2403,1103,-8.97,1.33,500.17,0,0,0,0,0,0,26.63,26.51,25.89	PM_ACTIVECARD	0
IRIDIUM_FIX	1938.19,-15603.88,061017,224540	_24V_AH	24.43,19.406
TT8_MAMPS	0.044191,0.304843	_10V_AH	10.35,0.483
HUMID	57.71	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.36987	FG_AHR_10Vo	0.000
TCM_TEMP	24.00	MEM	216092
XPDR_PINGS	435	DATA_FILE_SIZE	23370,646
PM_FREEKB_00	55433152	CAP_FILE_SIZE	89375,0
PM_FREEKB_01	62268672	CFSIZE	260030464,257802240
PM_FREEKB_02	62335808	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
PM_FREEKB_03	62335808	CURRENT	0.105,341.54,1
PM_FREEKB_04	62336320	GPS	071017,005525,1941.304,-15604.324,19,1.1,30,9.5,0.3,359.2,8,7.3
PM_FREEKB_05	62335808

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	243	145.90	nil	0	0	0.00
Roll_motor	66	1169	1890.98	nil	0	0	0.00
VBD_pump_during_apogee	521	685	8731.00	nil	0	0	0.00
VBD_pump_during_surface	75	122	225.46	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	7367	4	860.28
Iridium_during_xfer	0	0	0.00	PMAR	7377	39	7154.02
Transponder_ping	108	420	1115.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	12	0.93
TT8	0	0	0.00
LPSleep	5324	2	120.70
TT8_Active	718	13	99.05
TT8_Sampling	1439	44	656.09
TT8_CF8	51	55	29.33
TT8_Kalman	0	0	0.00
Analog_circuits	1270	11	149.93
GPS_charging	0	0	0.00
Compass	1115	8	95.14
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-1.25	-243.7	199	2405	1168	1049	0.0	0.0	0	117	0.00	0.00	-102.25	0.000	16386	0.000	0.000	199	2404	3587	3525	3650	0	0	0	0	0	0	27.10	28.83	27.16
119	-1.25	-243.7	199	2404	3526	3651	3.2	-4.4	10	142	10.98	2.33	-7.75	0.000	18724	0.243	1.170	2670	3696	3962	3909	4016	0	0	0	0	0	0	25.41	24.43	25.65
182	-1.00	-243.7	2669	3697	3910	4017	19.7	-20.9	22	187	0.28	1.98	0.00	0.000	3206	0.190	0.039	2767	2402	3963	3910	4016	0	0	0	0	0	0	25.37	26.52	25.72
492	-1.00	-243.7	2767	2403	3912	4017	62.5	-12.7	48	498	0.00	2.08	0.00	0.000	260	0.000	0.061	2758	3688	3963	3911	4016	0	0	0	0	0	0	27.14	26.13	27.20
542	-1.00	-243.7	2758	3689	3912	4017	69.0	-12.9	58	548	0.00	1.98	0.00	0.000	1030	0.000	0.041	2766	2402	3964	3912	4016	0	0	0	0	0	0	26.55	26.51	26.58
853	-1.07	-243.7	2767	2403	3914	4016	102.8	-10.8	70	858	0.00	2.15	0.00	0.000	676	0.000	0.044	2777	987	3964	3913	4016	0	0	0	0	0	0	27.15	26.31	27.20
897	-1.18	-243.7	2777	987	3914	4016	107.4	-10.1	79	903	0.15	2.22	0.00	0.000	5286	0.090	0.048	2706	2395	3964	3913	4016	0	0	0	0	0	0	26.08	26.27	26.16
1213	-1.18	-243.7	2706	2394	3915	4015	143.3	-11.3	92	1218	0.00	2.05	0.00	0.000	260	0.000	0.060	2695	3700	3965	3914	4016	0	0	0	0	0	0	27.15	26.10	27.21
1353	-1.18	-243.7	2696	3701	3915	4017	159.8	-11.6	120	1359	0.00	1.98	0.00	0.000	1030	0.000	0.039	2695	2400	3965	3914	4016	0	0	0	0	0	0	26.57	26.54	26.68
1664	-1.22	-243.7	2696	2402	3916	4017	191.1	-9.3	132	1670	0.00	2.05	0.00	0.000	420	0.000	0.061	2686	3700	3965	3915	4016	0	0	0	0	0	0	27.15	26.09	27.20
1739	-1.22	-243.7	2686	3701	3916	4017	198.6	-10.4	147	1744	0.00	1.98	0.00	0.000	1062	0.000	0.040	2691	2402	3965	3915	4016	0	0	0	0	0	0	26.56	26.53	26.59
2055	-1.29	-243.7	2691	2403	3915	4017	226.0	-8.0	160	2056	0.00	0.00	0.00	0.000	166	0.000	0.000	2691	2402	3965	3915	4016	0	0	0	0	0	0	27.14	27.22	27.20
2355	-1.36	-243.7	2691	2402	3916	4015	252.0	-9.0	170	2360	0.12	2.08	0.00	0.000	4516	0.145	0.060	2649	3719	3965	3915	4016	0	0	0	0	0	0	26.70	26.05	26.73
2380	-1.36	-243.7	2649	3719	3916	4015	254.4	-10.0	175	2385	0.00	2.03	0.00	0.000	1062	0.000	0.039	2655	2393	3965	3915	4016	0	0	0	0	0	0	26.55	26.51	26.59
2715	-1.36	-243.7	2657	2394	3915	4015	283.0	-8.3	187	2720	0.00	2.10	0.00	0.000	292	0.000	0.065	2649	3706	3963	3913	4013	0	0	0	0	0	0	27.13	25.96	27.20
2735	-1.36	-243.7	2650	3705	3914	4013	284.9	-9.4	191	2740	0.00	2.03	0.00	0.000	1062	0.000	0.044	2657	2401	3963	3913	4013	0	0	0	0	0	0	26.48	26.44	26.51
3075	-1.36	-243.7	2657	2402	3910	4013	318.7	-10.1	204	3081	0.00	2.08	0.00	0.000	292	0.000	0.061	2649	3704	3959	3909	4010	0	0	0	0	0	0	27.13	25.98	27.20
3191	-1.36	-243.7	2649	3704	3909	4011	331.2	-10.5	227	3197	0.00	2.05	0.00	0.000	1062	0.000	0.044	2657	2383	3959	3908	4010	0	0	0	0	0	0	26.44	26.40	26.48
3496	-1.40	-243.7	2657	2382	3909	4006	363.1	-10.5	233	3501	0.00	2.10	0.00	0.000	420	0.000	0.063	2648	3697	3957	3908	4006	0	0	0	0	0	0	27.09	25.89	27.15
3525	-1.40	-243.7	2650	3698	3908	4007	366.2	-10.0	239	3531	0.00	2.00	0.00	0.000	1062	0.000	0.041	2657	2397	3956	3907	4006	0	0	0	0	0	0	26.47	26.44	26.51
3856	-1.45	-243.7	2657	2397	3906	4000	395.0	-8.6	250	3861	0.00	2.10	0.00	0.000	420	0.000	0.065	2648	3698	3952	3904	4001	0	0	0	0	0	0	27.07	25.82	27.13
3909	end dive: TARGET_DEPTH_EXCEEDED
state	3909	begin apogee
3914	-0.23	0.0	2655	2806	3905	4000	400.1	-9.2	261	4161	1.30	0.00	243.90	0.640	10246	0.165	0.000	3006	2806	3143	3180	3107	0	0	0	0	0	0	24.63	25.56	24.77
4162	end apogee: CONTROL_FINISHED_OK
state	4162	begin climb
4163	1.25	243.7	3007	2808	3174	3101	407.1	0.0	265	4382	1.50	1.48	208.60	0.685	10500	0.113	0.057	3488	3708	2139	2190	2089	0	0	0	0	0	0	25.59	25.26	24.75
4541	0.98	243.7	3488	3709	2168	2072	343.3	20.2	343	4547	0.30	1.40	0.00	0.000	5254	0.164	0.035	3408	2788	2118	2167	2069	0	0	0	0	0	0	25.58	24.97	25.71
4872	0.90	243.7	3409	2789	2166	2066	295.5	14.1	354	4877	0.00	2.10	0.00	0.000	644	0.000	0.035	3417	1390	2114	2165	2064	0	0	0	0	0	0	27.03	26.34	27.10
5096	0.85	243.7	3417	1390	2163	2065	261.2	16.1	399	5102	0.17	2.22	0.00	0.000	5254	0.161	0.041	3367	2802	2112	2162	2062	0	0	0	0	0	0	25.56	26.22	25.67
5412	0.85	243.7	3367	2802	2161	2060	218.8	12.8	410	5416	0.00	2.12	0.00	0.000	516	0.000	0.037	3376	1404	2110	2160	2060	0	0	0	0	0	0	27.08	26.26	27.14
5641	0.89	243.7	3376	1404	2159	2060	191.5	11.6	456	5647	0.00	2.22	0.00	0.000	1158	0.000	0.046	3372	2804	2108	2157	2060	0	0	0	0	0	0	26.14	26.09	26.20
5952	0.92	265.0	3372	2804	2157	2057	158.5	10.5	468	5979	0.00	2.22	17.33	0.529	8740	0.000	0.040	3381	1399	2059	2111	2007	0	0	0	0	1	0	27.09	26.02	25.10
6104	0.98	265.0	3381	1398	2113	2007	141.9	11.3	498	6109	0.00	2.20	0.00	0.000	1158	0.000	0.048	3380	2802	2059	2111	2007	0	0	0	0	0	0	26.25	26.13	26.29
6434	1.12	328.3	3380	2804	2110	2009	106.5	9.2	514	6490	0.20	2.25	41.33	0.685	10916	0.135	0.041	3451	1404	1809	1875	1743	0	0	0	0	1	0	26.29	25.72	24.61
6713	1.12	328.3	3452	1404	1894	1756	75.5	11.4	570	6720	0.00	2.22	2.58	0.326	9222	0.000	0.047	3442	2805	1803	1867	1740	0	0	0	0	0	0	26.22	26.17	24.95
7025	1.16	328.3	3443	2805	1890	1751	40.5	11.3	589	7036	0.00	2.22	2.00	0.172	8836	0.000	0.039	3451	1403	1806	1873	1739	0	0	0	0	0	0	27.06	25.76	25.45
7236	1.23	335.9	3451	1403	1891	1754	17.4	10.9	631	7249	0.15	2.17	5.68	0.161	11430	0.163	0.048	3488	2800	1774	1840	1708	0	0	0	0	0	0	25.79	26.08	25.49
7365	end climb: SURFACE_DEPTH_REACHED
state	7365	begin surface coast
7376	end surface coast: CONTROL_FINISHED_OK
state	7376	begin surface