Glider dive log

WA coast Jul17 * SG203 * Dive index * Mission links * Dive 59 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 36 ALTIM_PULSE 2

MISSION 13 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 28 ALTIM_SENSITIVITY 4

DIVE 59 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0093

D_SURF 2 SM_CC 450 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_TGT 660 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 4

D_ABORT 1020 CALL_NDIVES 1 C_VBD 2941 DEVICE1 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 4 DEVICE2 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00113 DEVICE6 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 3

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 51

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 85

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_DIVE 220 HEAPDBG 0 W_ADJ_DBAND 0.5 COMPASS_DEVICE 33

T_MISSION 250 T_GPS 15 DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100740 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 GPS_DEVICE 64

T_TURN_SAMPINT -5 STROBE 0 PITCH_W_GAIN 7 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_LOITER 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 SIM_PITCH 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_10V 100 SEABIRD_T_G 0.0043963501

USE_ICE 0 PITCH_MIN 202 MINV_24V 21 SEABIRD_T_H 0.00063669891

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3901 MINV_10V 9.5 SEABIRD_T_I 2.4874016e-05

D_OFFGRID 1010 C_PITCH 2380 MAXI_24V 0.60000002 SEABIRD_T_J 2.9344606e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_C_G -10.04379

RELAUNCH 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_H 1.1655113

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 FG_AHR_24V 0 SEABIRD_C_I -0.0016799819

MAX_BUOY 150 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_J 0.00021581368

COURSE_BIAS 0 PITCH_GAIN 20 PRESSURE_YINT -167.37723 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00010878081 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS 52418 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.003 C_ROLL_DIVE 2800 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0099999998 C_ROLL_CLIMB 2600 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 0.0

HD_C 9.9999997e-06 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.4874016e-05

AH0_10V 100 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SEABIRD_T_J 2.9344606e-06

AH0_24V 150 FERRY_MAX 45 PITCH_MAX 3901 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MIN 202 SM_CC 450

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_TIMEOUT 17 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00113 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 STROBE 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_GAIN 7 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 HD_A 0.003 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0099999998 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_C 9.9999997e-06 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 57.182999

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITRAW 0.0 TGT_DEFAULT_LON -151

CALL_WAIT 60 ID 203 PRESSURE_SLOPE 0.00010878081 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -167.37723 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_YINT -1 PROTOCOL 9 T_DIVE 220

CF8_MAXERRORS 20 KALMAN_USE 2 P_OVSHOOT 0.079999998 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT_WITHG 0 T_GPS 15

COMPASS2_DEVICE -1 LOGGERDEVICE2 85 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 1

C_PITCH 2380 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2600 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 2800 MASS 52418 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 60

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 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 9.5 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 21 ROLL_MAX 3859 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 13 ROLL_MAXERRORS 1 VBD_DBAND 4

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 302 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 59 NOCOMM_ACTION 163 R_PORT_OVSHOOT 36 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 28 VBD_MIN 500

D_BOOST 50 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 0 N_GPS 100740 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0.5

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_G -10.04379 XPDR_DEVICE 24

D_OFFGRID 1010 PHONE_SUPPLY -2 SEABIRD_C_H 1.1655113 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.0016799819 XPDR_VALID 4

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00021581368

D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043963501

D_TGT 660 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063669891

Pre-dive calculations and measurements:

GPS1 150717,004939,4743.1948,-12506.2568,4,1.3,12,16.1,0.7,255.2,8,4.8 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4742.000,-12512.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.01 MHEAD_RNG_PITCHd_Wd 237.2,7451,-17.5,-10.000,-21.06,2227

_SM_ANGLEo -59.0 D_GRID 326

GPS2 150717,005613,4743.1787,-12506.2842,2,1.8,6,16.1,0.5,177.3,7,6.0

Post-dive calculations and measurements:

FINISH 0.2,1.011628 PM_FREEKB_06 124834944

SM_CCo 7219,70.10,0.152,0,0,1102,450.13 PM_FREEKB_07 124834944

SM_GC 1.82,6.80,0.35,70.10,0.047,0.067,0.152,182,2795,1102,-6.74,-0.85,450.13,0,0,0,0,0,0,26.62,26.53,26.06 PM_ACTIVECARD 1

IRIDIUM_FIX 4735.75,-12720.29,140717,231244 _24V_AH 24.06,14.812

TT8_MAMPS 0.053928,0.339297 _10V_AH 10.12,9.206

HUMID 52.91 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 8.6069 FG_AHR_10Vo 0.000

TCM_TEMP 18.70 MEM 278092

XPDR_PINGS 1 DATA_FILE_SIZE 20051,585

PM_FREEKB_00 124818048 CAP_FILE_SIZE 74720,0

PM_FREEKB_01 90619584 CFSIZE 1024393216,991690752

PM_FREEKB_02 124834944 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_03 124834944 CURRENT 0.021,18.32,1

PM_FREEKB_04 124834944 GPS 150717,025900,4742.854,-12507.182,21,0.9,21,16.1,0.3,264.0,9,6.0

PM_FREEKB_05 124834944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 224 86.99 nil 0 0 0.00

Roll_motor 62 1277 1932.64 nil 0 0 0.00

VBD_pump_during_apogee 421 1124 11413.18 nil 0 0 0.00

VBD_pump_during_surface 70 152 256.76 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 7214 5 884.85

Iridium_during_xfer 258 97 609.49 PMAR 7227 41 7292.60

Transponder_ping 0 420 2.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 12 1.05

TT8 0 0 0.00

LPSleep 5569 2 123.44

TT8_Active 586 19 118.07

TT8_Sampling 1423 49 718.21

TT8_CF8 116 67 80.16

TT8_Kalman 0 0 0.00

Analog_circuits 1348 11 157.78

GPS_charging 0 0 0.00

Compass 842 8 70.24

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.04 -146.0 190 2798 1131 1081 0.0 0.0 0 68 0.00 0.00 -52.38 0.000 16386 0.000 0.000 190 2799 2450 2496 2404 0 0 0 0 0 0 26.55 28.83 26.63

70 -1.04 -146.0 192 2799 2498 2404 3.5 -6.2 5 107 7.18 1.77 -25.23 0.000 18724 0.225 1.278 2024 3855 3537 3606 3468 0 0 0 0 0 0 25.82 24.98 26.16

131 -1.04 -146.0 2025 3855 3608 3471 13.7 -16.7 17 137 0.00 1.65 0.00 0.000 1030 0.000 0.031 2024 2788 3540 3606 3474 0 0 0 0 0 0 26.37 26.34 26.39

451 -1.04 -146.0 2023 2788 3606 3473 53.8 -10.5 48 457 0.00 2.15 0.00 0.000 516 0.000 0.036 2024 1393 3539 3606 3472 0 0 0 0 0 0 26.79 26.46 26.84

526 -1.04 -146.0 2025 1393 3608 3474 62.0 -11.3 63 532 0.00 2.22 0.00 0.000 1030 0.000 0.041 2016 2794 3539 3606 3473 0 0 0 0 0 0 26.49 26.45 26.53

841 -1.04 -146.0 2016 2795 3608 3474 97.1 -10.8 76 847 0.08 2.17 0.00 0.000 2564 0.222 0.037 2028 1387 3539 3606 3473 0 0 0 0 0 0 26.61 26.58 26.67

946 -1.04 -146.0 2029 1386 3609 3475 107.6 -10.0 97 952 0.00 2.22 0.00 0.000 1030 0.000 0.041 2025 2796 3540 3607 3474 0 0 0 0 0 0 26.61 26.56 26.66

1262 -1.04 -146.0 2025 2798 3609 3474 140.0 -10.5 110 1267 0.00 2.17 0.00 0.000 516 0.000 0.037 2025 1387 3540 3607 3473 0 0 0 0 0 0 27.03 26.66 27.09

1322 -1.04 -146.0 2025 1387 3609 3474 146.5 -10.8 122 1327 0.00 2.22 0.00 0.000 1030 0.000 0.041 2019 2799 3540 3607 3473 0 0 0 0 0 0 26.67 26.62 26.71

1652 -1.04 -146.0 2017 2800 3606 3474 180.7 -10.2 138 1657 0.00 2.17 0.00 0.000 516 0.000 0.037 2019 1385 3540 3607 3473 0 0 0 0 0 0 27.08 26.70 27.15

1746 -1.04 -146.0 2019 1386 3608 3474 190.3 -10.0 157 1753 0.05 2.22 0.00 0.000 3078 0.176 0.041 2027 2798 3540 3607 3473 0 0 0 0 0 0 26.45 26.67 26.54

2073 -1.04 -146.0 2027 2799 3609 3474 219.8 -9.0 172 2078 0.00 2.17 0.00 0.000 548 0.000 0.038 2027 1359 3540 3607 3473 0 0 0 0 0 0 27.13 26.74 27.19

2117 -1.04 -146.0 2026 1360 3607 3474 223.9 -9.0 181 2123 0.00 2.28 0.00 0.000 1062 0.000 0.042 2024 2800 3540 3607 3473 0 0 0 0 0 0 26.74 26.68 26.79

2433 -1.04 -146.0 2022 2800 3608 3474 251.7 -8.7 194 2438 0.00 2.17 0.00 0.000 548 0.000 0.038 2024 1382 3539 3606 3473 0 0 0 0 0 0 27.15 26.76 27.22

2508 -1.04 -146.0 2023 1383 3605 3474 258.2 -8.8 209 2514 0.00 2.22 0.00 0.000 1062 0.000 0.041 2017 2795 3539 3606 3473 0 0 0 0 0 0 26.76 26.68 26.82

2853 -1.04 -146.0 2017 2796 3604 3473 288.2 -8.8 223 2859 0.00 1.70 0.00 0.000 292 0.000 0.062 2011 3867 3538 3604 3473 0 0 0 0 0 0 27.18 26.69 27.24

2883 -1.04 -146.0 2011 3868 3604 3474 291.7 -11.7 229 2890 0.03 1.62 0.00 0.000 3078 0.184 0.037 2018 2803 3538 3604 3473 0 0 0 0 0 0 26.70 26.85 26.74

3212 end dive: TARGET_DEPTH_EXCEEDED

state 3212 begin apogee

3216 -0.25 0.0 2018 2575 3602 3473 328.5 -11.0 240 3364 0.80 0.00 140.30 1.125 10246 0.114 0.000 2284 2573 2940 2969 2911 0 0 0 0 1 0 26.47 24.86 24.06

3366 end apogee: CONTROL_FINISHED_OK

state 3366 begin climb

3367 1.04 146.0 2285 2575 2983 2912 336.6 0.0 242 3524 1.15 2.20 147.15 0.669 10500 0.041 0.055 2719 3867 2334 2358 2311 0 0 0 0 0 0 25.09 24.94 24.44

3648 1.10 197.4 2718 3868 2345 2298 334.1 7.6 300 3704 0.00 2.00 50.03 0.649 9254 0.000 0.037 2729 2631 2129 2156 2102 0 0 0 0 0 0 25.72 25.70 24.72

4019 1.10 197.4 2729 2632 2139 2081 298.2 10.0 319 4020 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2631 2109 2137 2081 0 0 0 0 0 0 26.36 26.44 26.44

4318 1.10 197.4 2729 2632 2138 2081 267.4 10.3 324 4324 0.00 2.03 0.00 0.000 260 0.000 0.057 2729 3863 2107 2136 2079 0 0 0 0 0 0 26.64 26.27 26.71

4418 1.10 197.4 2728 3863 2135 2079 255.9 11.5 344 4424 0.00 2.00 0.00 0.000 1030 0.000 0.038 2738 2593 2107 2135 2079 0 0 0 0 0 0 26.45 26.42 26.49

4738 1.10 197.4 2738 2594 2136 2078 221.8 10.3 357 4739 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2593 2105 2134 2077 0 0 0 0 0 0 26.84 26.92 26.91

5038 1.10 197.4 2737 2594 2135 2077 191.6 9.8 367 5044 0.00 2.05 0.00 0.000 260 0.000 0.057 2738 3859 2105 2134 2076 0 0 0 0 0 0 26.93 26.51 27.01

5073 1.10 197.4 2738 3859 2135 2077 187.9 10.8 374 5079 0.00 1.98 0.00 0.000 1030 0.000 0.039 2746 2594 2104 2133 2076 0 0 0 0 0 0 26.67 26.64 26.70

5398 1.10 197.4 2747 2595 2135 2077 155.4 10.2 389 5405 0.00 2.20 0.00 0.000 516 0.000 0.046 2753 1196 2104 2132 2077 0 0 0 0 0 0 27.00 26.60 27.07

5448 1.10 197.4 2752 1197 2132 2077 150.1 10.4 399 5454 0.00 2.20 0.00 0.000 1030 0.000 0.038 2753 2609 2103 2132 2075 0 0 0 0 0 0 26.69 26.65 26.73

5759 1.10 197.4 2752 2610 2131 2077 118.3 9.8 411 5764 0.00 1.98 0.00 0.000 260 0.000 0.059 2753 3844 2103 2131 2076 0 0 0 0 0 0 27.05 26.60 27.13

5829 1.10 197.4 2754 3845 2133 2077 111.4 9.7 425 5835 0.00 1.92 0.00 0.000 1030 0.000 0.039 2760 2601 2103 2131 2076 0 0 0 0 0 0 26.78 26.75 26.82

6149 1.13 224.4 2760 2600 2133 2077 85.3 8.8 439 6187 0.00 2.28 32.90 0.577 8740 0.000 0.046 2762 1182 2022 2049 1995 0 0 0 0 0 0 27.10 26.37 25.86

6346 1.14 236.9 2763 1182 2039 1986 65.2 9.4 478 6368 0.00 2.22 14.50 0.571 9254 0.000 0.037 2762 2601 1970 1997 1943 0 0 0 0 0 0 26.53 26.49 25.76

6673 1.19 277.2 2763 2601 1992 1934 35.8 8.1 505 6695 0.00 2.05 18.88 0.225 8484 0.000 0.058 2762 3854 1807 1836 1779 0 0 0 0 0 0 26.82 26.34 25.96

6919 1.23 310.9 2762 3854 1853 1783 13.2 8.4 554 6942 0.00 1.95 18.08 0.180 9254 0.000 0.036 2768 2596 1669 1700 1638 0 0 0 0 0 0 26.60 26.57 26.06

7125 end climb: SURFACE_DEPTH_REACHED

state 7125 begin surface coast

7205 end surface coast: CONTROL_FINISHED_OK

state 7205 begin surface

ID	203	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	36	ALTIM_PULSE	2
MISSION	13	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	4
DIVE	59	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0093
D_SURF	2	SM_CC	450	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_TGT	660	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	4
D_ABORT	1020	CALL_NDIVES	1	C_VBD	2941	DEVICE1	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	4	DEVICE2	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00113	DEVICE6	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	3
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	51
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	85
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_DIVE	220	HEAPDBG	0	W_ADJ_DBAND	0.5	COMPASS_DEVICE	33
T_MISSION	250	T_GPS	15	DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100740	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	GPS_DEVICE	64
T_TURN_SAMPINT	-5	STROBE	0	PITCH_W_GAIN	7	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_LOITER	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	SIM_PITCH	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_10V	100	SEABIRD_T_G	0.0043963501
USE_ICE	0	PITCH_MIN	202	MINV_24V	21	SEABIRD_T_H	0.00063669891
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3901	MINV_10V	9.5	SEABIRD_T_I	2.4874016e-05
D_OFFGRID	1010	C_PITCH	2380	MAXI_24V	0.60000002	SEABIRD_T_J	2.9344606e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_C_G	-10.04379
RELAUNCH	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_H	1.1655113
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	FG_AHR_24V	0	SEABIRD_C_I	-0.0016799819
MAX_BUOY	150	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00021581368
COURSE_BIAS	0	PITCH_GAIN	20	PRESSURE_YINT	-167.37723	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00010878081	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS	52418	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.003	C_ROLL_DIVE	2800	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0099999998	C_ROLL_CLIMB	2600	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	0.0
HD_C	9.9999997e-06	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13

GPS1	150717,004939,4743.1948,-12506.2568,4,1.3,12,16.1,0.7,255.2,8,4.8	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4742.000,-12512.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.01	MHEAD_RNG_PITCHd_Wd	237.2,7451,-17.5,-10.000,-21.06,2227
_SM_ANGLEo	-59.0	D_GRID	326
GPS2	150717,005613,4743.1787,-12506.2842,2,1.8,6,16.1,0.5,177.3,7,6.0

FINISH	0.2,1.011628	PM_FREEKB_06	124834944
SM_CCo	7219,70.10,0.152,0,0,1102,450.13	PM_FREEKB_07	124834944
SM_GC	1.82,6.80,0.35,70.10,0.047,0.067,0.152,182,2795,1102,-6.74,-0.85,450.13,0,0,0,0,0,0,26.62,26.53,26.06	PM_ACTIVECARD	1
IRIDIUM_FIX	4735.75,-12720.29,140717,231244	_24V_AH	24.06,14.812
TT8_MAMPS	0.053928,0.339297	_10V_AH	10.12,9.206
HUMID	52.91	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	8.6069	FG_AHR_10Vo	0.000
TCM_TEMP	18.70	MEM	278092
XPDR_PINGS	1	DATA_FILE_SIZE	20051,585
PM_FREEKB_00	124818048	CAP_FILE_SIZE	74720,0
PM_FREEKB_01	90619584	CFSIZE	1024393216,991690752
PM_FREEKB_02	124834944	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_03	124834944	CURRENT	0.021,18.32,1
PM_FREEKB_04	124834944	GPS	150717,025900,4742.854,-12507.182,21,0.9,21,16.1,0.3,264.0,9,6.0
PM_FREEKB_05	124834944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	224	86.99	nil	0	0	0.00
Roll_motor	62	1277	1932.64	nil	0	0	0.00
VBD_pump_during_apogee	421	1124	11413.18	nil	0	0	0.00
VBD_pump_during_surface	70	152	256.76	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	7214	5	884.85
Iridium_during_xfer	258	97	609.49	PMAR	7227	41	7292.60
Transponder_ping	0	420	2.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	12	1.05
TT8	0	0	0.00
LPSleep	5569	2	123.44
TT8_Active	586	19	118.07
TT8_Sampling	1423	49	718.21
TT8_CF8	116	67	80.16
TT8_Kalman	0	0	0.00
Analog_circuits	1348	11	157.78
GPS_charging	0	0	0.00
Compass	842	8	70.24
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.04	-146.0	190	2798	1131	1081	0.0	0.0	0	68	0.00	0.00	-52.38	0.000	16386	0.000	0.000	190	2799	2450	2496	2404	0	0	0	0	0	0	26.55	28.83	26.63
70	-1.04	-146.0	192	2799	2498	2404	3.5	-6.2	5	107	7.18	1.77	-25.23	0.000	18724	0.225	1.278	2024	3855	3537	3606	3468	0	0	0	0	0	0	25.82	24.98	26.16
131	-1.04	-146.0	2025	3855	3608	3471	13.7	-16.7	17	137	0.00	1.65	0.00	0.000	1030	0.000	0.031	2024	2788	3540	3606	3474	0	0	0	0	0	0	26.37	26.34	26.39
451	-1.04	-146.0	2023	2788	3606	3473	53.8	-10.5	48	457	0.00	2.15	0.00	0.000	516	0.000	0.036	2024	1393	3539	3606	3472	0	0	0	0	0	0	26.79	26.46	26.84
526	-1.04	-146.0	2025	1393	3608	3474	62.0	-11.3	63	532	0.00	2.22	0.00	0.000	1030	0.000	0.041	2016	2794	3539	3606	3473	0	0	0	0	0	0	26.49	26.45	26.53
841	-1.04	-146.0	2016	2795	3608	3474	97.1	-10.8	76	847	0.08	2.17	0.00	0.000	2564	0.222	0.037	2028	1387	3539	3606	3473	0	0	0	0	0	0	26.61	26.58	26.67
946	-1.04	-146.0	2029	1386	3609	3475	107.6	-10.0	97	952	0.00	2.22	0.00	0.000	1030	0.000	0.041	2025	2796	3540	3607	3474	0	0	0	0	0	0	26.61	26.56	26.66
1262	-1.04	-146.0	2025	2798	3609	3474	140.0	-10.5	110	1267	0.00	2.17	0.00	0.000	516	0.000	0.037	2025	1387	3540	3607	3473	0	0	0	0	0	0	27.03	26.66	27.09
1322	-1.04	-146.0	2025	1387	3609	3474	146.5	-10.8	122	1327	0.00	2.22	0.00	0.000	1030	0.000	0.041	2019	2799	3540	3607	3473	0	0	0	0	0	0	26.67	26.62	26.71
1652	-1.04	-146.0	2017	2800	3606	3474	180.7	-10.2	138	1657	0.00	2.17	0.00	0.000	516	0.000	0.037	2019	1385	3540	3607	3473	0	0	0	0	0	0	27.08	26.70	27.15
1746	-1.04	-146.0	2019	1386	3608	3474	190.3	-10.0	157	1753	0.05	2.22	0.00	0.000	3078	0.176	0.041	2027	2798	3540	3607	3473	0	0	0	0	0	0	26.45	26.67	26.54
2073	-1.04	-146.0	2027	2799	3609	3474	219.8	-9.0	172	2078	0.00	2.17	0.00	0.000	548	0.000	0.038	2027	1359	3540	3607	3473	0	0	0	0	0	0	27.13	26.74	27.19
2117	-1.04	-146.0	2026	1360	3607	3474	223.9	-9.0	181	2123	0.00	2.28	0.00	0.000	1062	0.000	0.042	2024	2800	3540	3607	3473	0	0	0	0	0	0	26.74	26.68	26.79
2433	-1.04	-146.0	2022	2800	3608	3474	251.7	-8.7	194	2438	0.00	2.17	0.00	0.000	548	0.000	0.038	2024	1382	3539	3606	3473	0	0	0	0	0	0	27.15	26.76	27.22
2508	-1.04	-146.0	2023	1383	3605	3474	258.2	-8.8	209	2514	0.00	2.22	0.00	0.000	1062	0.000	0.041	2017	2795	3539	3606	3473	0	0	0	0	0	0	26.76	26.68	26.82
2853	-1.04	-146.0	2017	2796	3604	3473	288.2	-8.8	223	2859	0.00	1.70	0.00	0.000	292	0.000	0.062	2011	3867	3538	3604	3473	0	0	0	0	0	0	27.18	26.69	27.24
2883	-1.04	-146.0	2011	3868	3604	3474	291.7	-11.7	229	2890	0.03	1.62	0.00	0.000	3078	0.184	0.037	2018	2803	3538	3604	3473	0	0	0	0	0	0	26.70	26.85	26.74
3212	end dive: TARGET_DEPTH_EXCEEDED
state	3212	begin apogee
3216	-0.25	0.0	2018	2575	3602	3473	328.5	-11.0	240	3364	0.80	0.00	140.30	1.125	10246	0.114	0.000	2284	2573	2940	2969	2911	0	0	0	0	1	0	26.47	24.86	24.06
3366	end apogee: CONTROL_FINISHED_OK
state	3366	begin climb
3367	1.04	146.0	2285	2575	2983	2912	336.6	0.0	242	3524	1.15	2.20	147.15	0.669	10500	0.041	0.055	2719	3867	2334	2358	2311	0	0	0	0	0	0	25.09	24.94	24.44
3648	1.10	197.4	2718	3868	2345	2298	334.1	7.6	300	3704	0.00	2.00	50.03	0.649	9254	0.000	0.037	2729	2631	2129	2156	2102	0	0	0	0	0	0	25.72	25.70	24.72
4019	1.10	197.4	2729	2632	2139	2081	298.2	10.0	319	4020	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2631	2109	2137	2081	0	0	0	0	0	0	26.36	26.44	26.44
4318	1.10	197.4	2729	2632	2138	2081	267.4	10.3	324	4324	0.00	2.03	0.00	0.000	260	0.000	0.057	2729	3863	2107	2136	2079	0	0	0	0	0	0	26.64	26.27	26.71
4418	1.10	197.4	2728	3863	2135	2079	255.9	11.5	344	4424	0.00	2.00	0.00	0.000	1030	0.000	0.038	2738	2593	2107	2135	2079	0	0	0	0	0	0	26.45	26.42	26.49
4738	1.10	197.4	2738	2594	2136	2078	221.8	10.3	357	4739	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2593	2105	2134	2077	0	0	0	0	0	0	26.84	26.92	26.91
5038	1.10	197.4	2737	2594	2135	2077	191.6	9.8	367	5044	0.00	2.05	0.00	0.000	260	0.000	0.057	2738	3859	2105	2134	2076	0	0	0	0	0	0	26.93	26.51	27.01
5073	1.10	197.4	2738	3859	2135	2077	187.9	10.8	374	5079	0.00	1.98	0.00	0.000	1030	0.000	0.039	2746	2594	2104	2133	2076	0	0	0	0	0	0	26.67	26.64	26.70
5398	1.10	197.4	2747	2595	2135	2077	155.4	10.2	389	5405	0.00	2.20	0.00	0.000	516	0.000	0.046	2753	1196	2104	2132	2077	0	0	0	0	0	0	27.00	26.60	27.07
5448	1.10	197.4	2752	1197	2132	2077	150.1	10.4	399	5454	0.00	2.20	0.00	0.000	1030	0.000	0.038	2753	2609	2103	2132	2075	0	0	0	0	0	0	26.69	26.65	26.73
5759	1.10	197.4	2752	2610	2131	2077	118.3	9.8	411	5764	0.00	1.98	0.00	0.000	260	0.000	0.059	2753	3844	2103	2131	2076	0	0	0	0	0	0	27.05	26.60	27.13
5829	1.10	197.4	2754	3845	2133	2077	111.4	9.7	425	5835	0.00	1.92	0.00	0.000	1030	0.000	0.039	2760	2601	2103	2131	2076	0	0	0	0	0	0	26.78	26.75	26.82
6149	1.13	224.4	2760	2600	2133	2077	85.3	8.8	439	6187	0.00	2.28	32.90	0.577	8740	0.000	0.046	2762	1182	2022	2049	1995	0	0	0	0	0	0	27.10	26.37	25.86
6346	1.14	236.9	2763	1182	2039	1986	65.2	9.4	478	6368	0.00	2.22	14.50	0.571	9254	0.000	0.037	2762	2601	1970	1997	1943	0	0	0	0	0	0	26.53	26.49	25.76
6673	1.19	277.2	2763	2601	1992	1934	35.8	8.1	505	6695	0.00	2.05	18.88	0.225	8484	0.000	0.058	2762	3854	1807	1836	1779	0	0	0	0	0	0	26.82	26.34	25.96
6919	1.23	310.9	2762	3854	1853	1783	13.2	8.4	554	6942	0.00	1.95	18.08	0.180	9254	0.000	0.036	2768	2596	1669	1700	1638	0	0	0	0	0	0	26.60	26.57	26.06
7125	end climb: SURFACE_DEPTH_REACHED
state	7125	begin surface coast
7205	end surface coast: CONTROL_FINISHED_OK
state	7205	begin surface