Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 511 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 160 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

MISSION 9 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

DIVE 511 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 57 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 INT_PRESSURE_YINT 1

D_TGT 450 SM_CC 517.58301 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_ABORT 500 N_FILEKB 4 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 VBD_MIN 190 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MAX 3660 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 C_VBD 2300 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_TRIES 4 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 67

T_DIVE 180 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 220 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 10 DBDW 0 PHONE_DEVICE 48

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -83151.414 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY 0 STROBE 0 AH0_24V 350 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MINV_24V 11 SEABIRD_T_G 0.0043567605

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_10V 11 SEABIRD_T_H 0.00063562888

T_WATCHDOG 10 PITCH_MIN 155 FG_AHR_10V 0 SEABIRD_T_I 2.4601901e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_24V 0 SEABIRD_T_J 2.6145824e-06

APOGEE_PITCH -5 C_PITCH 3295 PHONE_SUPPLY -2 SEABIRD_C_G -9.8833933

MAX_BUOY 100 PITCH_DBAND 0.1 PRESSURE_YINT -21.182281 SEABIRD_C_H 1.1029875

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001158597 SEABIRD_C_I -0.0011442616

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.00017903016

SPEED_FACTOR 1 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 55936 PITCH_AD_RATE 120 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_RECORDABOVE 250.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1.5 ALTIM_BOTTOM_TURN_MARGIN 10 TM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.003 ROLL_MAX 3200 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

HD_B 0.0099999998 ROLL_DEG 30 ALTIM_PING_DEPTH 0

HD_C 9.9999997e-06 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 0

HEADING -1 C_ROLL_CLIMB 1800 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

AH0_10V 0 D_SURF 3 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

AH0_24V 350 D_TGT 450 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3900 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 155 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FILEMGR 0 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158597 TM_RECORDABOVE 250.0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PRESSURE_YINT -21.182281 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PROTOCOL 9 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_BOOST 5

CALL_TRIES 4 HEADING -1 RAFOS_DEVICE -1 T_DIVE 180

CALL_WAIT 60 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 160 RHO 1.0275 T_GPS_CHARGE -83151.414

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 ROLL_ADJ_GAIN 1.5 T_MISSION 220

COMPASS_DEVICE 97 KALMAN_USE 2 ROLL_AD_RATE 250 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE2 67 ROLL_DEG 30 T_TURN 225

C_PITCH 3295 LOGGERDEVICE3 -1 ROLL_MAX 3200 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOGGERS 1 ROLL_MIN 335 UNCOM_BLEED 20

C_VBD 2300 MASS 55936 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 R_PORT_OVSHOOT 57 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 25 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 9 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8833933 VBD_MAX 3660

DEVICE4 -1 NAV_MODE 2 SEABIRD_C_H 1.1029875 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_I -0.0011442616 VBD_MIN 190

DEVICE6 -1 N_DIVES 0 SEABIRD_C_J 0.00017903016 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 511 N_FILEKB 4 SEABIRD_T_G 0.0043567605 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 N_GPS 10 SEABIRD_T_H 0.00063562888 VBD_TIMEOUT 720

D_BOOST 20 N_NOCOMM 1 SEABIRD_T_I 2.4601901e-05 W_ADJ_DBAND 0

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_J 2.6145824e-06 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_INHIBIT 90

D_FLARE 3 PHONE_SUPPLY -2 SIM_W 0 XPDR_VALID 4

D_NO_BLEED 200 PITCH_ADJ_DBAND 1.5 SM_CC 517.58301

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SPEED_FACTOR 1

D_PITCH 0 PITCH_AD_RATE 120 STROBE 0

Pre-dive calculations and measurements:

GPS1 080813,200301,2448.935,-3723.099,0,10000.0,0,-15.1 TGT_NAME SE

_CALLS 4 TGT_LATLONG 2420.500,-3747.160

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080813,200301,2448.935,-3723.099,301,99.0,301,-15.1 MHEAD_RNG_PITCHd_Wd 187.7,66494,-27.0,-8.333,-30.00,882

SPEED_LIMITS 0.144,0.204 D_GRID 450

Post-dive calculations and measurements:

FREEZE 4.03,25.814,-1.685,0,34,0 _10V_AH 12.8,0.000

SM_CCo 9862,142.68,0.075,0,0,188,517.58 FG_AHR_24Vo 0.000

SM_GC 4.91,10.32,2.10,0.00,0.047,0.046,0.000,145,1953,190,-9.78,0.88,517.58,0,0,0,0,0,0,14.56,14.44,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2451.31,-3750.21,080813,232348 MEM 345076

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16749,490

HUMID 84.61 CAP_FILE_SIZE 143450,0

INTERNAL_PRESSURE 9.54525 CFSIZE 260034560,185503744

TCM_TEMP 23.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 CURRENT 65.564, 95.9,1

SC_FREEKB 3824384 GPS 080813,234748,2451.311,-3750.206,0,10000.0,0,-15.1

_24V_AH 13.4,195.926

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 379 143.76 nil 0 0 0.00

Roll_motor 84 96 109.24 nil 0 0 0.00

VBD_pump_during_apogee 278 1424 5315.83 nil 0 0 0.00

VBD_pump_during_surface 142 74 143.33 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 9868 6 858.05

Iridium_during_xfer 1885 211 5335.38 TMICL 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 306 21 85.14

TT8 2016 9 238.01

LPSleep 6122 2 171.63

TT8_Active 526 9 62.10

TT8_Sampling 3666 27 1311.32

TT8_CF8 677 32 281.41

TT8_Kalman 0 0 0.00

Analog_circuits 3258 17 709.08

GPS_charging 0 0 0.00

Compass 1603 5 102.62

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -1.40 -48.0 144 1921 217 166 0.0 0.0 0 114 0.00 0.00 -89.32 0.000 16386 0.000 0.000 144 1921 2326 2300 2353 0 0 0 0 0 0 28.83 28.83 28.83

120 -1.45 -97.3 144 1921 2301 2354 3.2 -1.0 6 151 13.70 2.28 -9.00 0.000 18948 0.379 0.087 2821 923 2699 2714 2684 0 0 0 0 0 0 14.07 14.54 14.90

387 -1.34 -97.3 2821 923 2713 2684 49.9 -17.8 23 393 0.20 2.33 0.00 0.000 3078 0.291 0.058 2859 1941 2698 2713 2684 0 0 0 0 0 0 14.11 14.50 28.83

708 -1.30 -97.3 2859 1941 2713 2684 91.4 -12.4 44 714 0.00 2.33 0.00 0.000 516 0.000 0.064 2857 931 2698 2713 2684 0 0 0 0 0 0 28.83 14.47 28.83

722 -1.25 -97.3 2858 931 2713 2684 91.4 -12.4 44 729 0.15 2.33 0.00 0.000 3078 0.291 0.062 2888 1939 2698 2713 2684 0 0 0 0 0 0 14.16 14.50 28.83

1029 -1.22 -97.3 2888 1938 2713 2684 132.5 -13.1 65 1034 0.00 2.53 0.00 0.000 260 0.000 0.084 2887 3011 2698 2713 2683 0 0 0 0 0 0 28.83 14.44 28.83

1131 -1.19 -97.3 1792 3008 2650 2674 145.1 -13.8 71 1137 0.00 2.40 0.00 0.000 1030 0.000 0.042 2887 1954 2698 2713 2684 0 0 0 0 0 0 28.83 14.52 28.83

1446 -1.17 -97.3 2887 1954 2713 2683 189.1 -12.8 92 1453 0.12 2.50 0.00 0.000 2308 0.291 0.069 2914 3012 2697 2713 2682 0 0 0 0 0 0 14.14 14.44 28.83

1628 -1.17 -97.3 2914 3012 2713 2682 210.2 -12.0 103 1635 0.00 2.58 0.00 0.000 1030 0.000 0.050 2914 1886 2697 2713 2682 0 0 0 0 0 0 28.83 14.50 28.83

1935 -1.17 -97.3 2914 1887 2713 2680 243.1 -9.9 124 1941 0.00 2.30 0.00 0.000 516 0.000 0.069 2914 884 2696 2713 2679 0 0 0 0 0 0 28.83 14.48 28.83

2172 -1.17 -97.3 2914 883 2713 2678 264.8 -10.0 134 2177 0.00 2.25 0.00 0.000 1030 0.000 0.054 2914 1873 2696 2714 2678 0 0 0 0 0 0 28.83 14.50 28.83

2487 -1.17 -97.3 2914 1872 2713 2677 299.3 -10.5 145 2492 0.00 2.28 0.00 0.000 516 0.000 0.061 2913 882 2695 2713 2677 0 0 0 0 0 0 28.83 14.50 28.83

2722 -1.17 -97.3 2914 882 2713 2676 323.8 -11.7 152 2728 0.00 2.20 0.00 0.000 1030 0.000 0.052 2914 1852 2694 2713 2675 0 0 0 0 0 0 28.83 14.42 28.83

3038 -1.17 -97.3 2914 1851 2713 2672 363.8 -11.8 163 3045 0.00 2.22 0.00 0.000 516 0.000 0.061 2914 885 2692 2713 2672 0 0 0 0 0 0 28.83 14.50 28.83

3275 -1.17 -97.3 2914 885 2713 2671 389.0 -11.5 170 3280 0.00 2.17 0.00 0.000 1030 0.000 0.050 2914 1842 2691 2713 2670 0 0 0 0 0 0 28.83 14.48 28.83

3590 -1.17 -97.3 2914 1841 2713 2668 422.1 -9.6 181 3595 0.00 2.20 0.00 0.000 516 0.000 0.059 2914 883 2690 2713 2668 0 0 0 0 0 0 28.83 14.50 28.83

3786 -1.17 -97.3 2914 884 2713 2667 442.3 -11.2 187 3792 0.00 2.15 0.00 0.000 1030 0.000 0.050 2914 1829 2689 2713 2666 0 0 0 0 0 0 28.83 14.48 28.83

3867 end dive: TARGET_DEPTH_EXCEEDED

state 3867 begin apogee

3876 -0.25 0.0 2914 1745 2713 2666 453.4 -11.7 190 3960 1.10 0.15 77.05 1.424 10244 0.216 0.080 3203 1832 2298 2354 2243 0 0 0 0 0 0 13.89 14.40 13.42

3966 end apogee: CONTROL_FINISHED_OK

state 3966 begin climb

3969 1.45 97.3 3202 1832 2351 2242 457.3 0.0 193 4063 1.75 2.40 79.82 1.416 10500 0.099 0.074 3761 2837 1900 1965 1836 0 0 0 0 0 0 14.39 14.38 13.47

4226 1.32 98.7 3761 2837 1957 1832 449.2 8.2 201 4233 0.20 2.40 0.00 0.000 5126 0.330 0.050 3727 1793 1894 1956 1832 0 0 0 0 0 0 14.10 14.55 28.83

4551 1.24 108.1 3727 1794 1957 1828 425.4 7.2 212 4566 0.12 2.40 8.73 1.215 12548 0.328 0.064 3699 2832 1858 1928 1788 0 0 0 0 0 0 14.12 14.70 13.73

4799 1.16 108.1 3699 2832 1921 1787 401.5 10.0 220 4805 0.15 2.35 0.00 0.000 5126 0.311 0.050 3670 1805 1854 1921 1787 0 0 0 0 0 0 14.16 14.57 28.83

5139 1.11 108.1 3670 1799 1921 1784 370.3 9.4 231 5144 0.00 2.42 0.00 0.000 260 0.000 0.063 3671 2835 1852 1921 1784 0 0 0 0 0 0 28.83 14.52 28.83

5375 1.04 108.1 3671 2835 1919 1784 349.1 9.4 238 5381 0.17 2.33 0.00 0.000 5126 0.288 0.048 3636 1819 1851 1919 1784 0 0 0 0 0 0 14.11 14.56 28.83

5694 1.03 123.3 3636 1820 1919 1782 324.9 6.6 249 5712 0.00 2.35 13.35 1.187 8452 0.000 0.061 3636 2839 1795 1873 1718 0 0 0 0 0 0 28.83 14.67 13.71

5945 1.00 130.2 3636 2839 1864 1717 306.2 7.5 257 5959 0.00 2.33 6.82 1.096 9222 0.000 0.046 3643 1822 1767 1845 1690 0 0 0 0 0 0 28.83 14.54 13.76

6279 0.98 131.8 3643 1822 1839 1687 280.3 8.2 268 6285 0.12 2.38 0.00 0.000 4356 0.301 0.058 3615 2837 1763 1839 1688 0 0 0 0 0 0 14.11 14.48 28.83

6516 0.96 131.8 3615 2837 1837 1686 261.0 8.4 275 6521 0.00 2.33 0.00 0.000 1030 0.000 0.047 3615 1825 1761 1837 1686 0 0 0 0 0 0 28.83 14.52 28.83

6832 0.97 144.9 3616 1825 1837 1687 236.0 6.8 292 6847 0.00 0.00 13.20 1.101 8198 0.000 0.000 3616 1826 1709 1788 1630 0 0 0 0 0 0 28.83 28.83 13.74

7146 0.98 152.9 3616 1826 1779 1628 212.7 7.4 313 7162 0.00 2.35 7.88 1.028 8452 0.000 0.061 3616 2839 1673 1748 1598 0 0 0 0 0 0 28.83 14.65 13.78

7273 0.96 152.9 3616 2839 1744 1597 200.8 9.9 321 7279 0.00 2.35 0.00 0.000 1030 0.000 0.050 3616 1829 1670 1743 1598 0 0 0 0 0 0 28.83 14.52 28.83

7595 0.96 152.9 3616 1830 1743 1597 171.1 9.4 342 7596 0.00 0.00 0.00 0.000 6 0.000 0.000 3616 1830 1670 1743 1597 0 0 0 0 0 0 28.83 28.83 28.83

7894 0.97 158.6 3616 1830 1742 1596 146.5 7.7 362 7900 0.00 0.00 4.55 0.876 8198 0.000 0.000 3616 1830 1653 1723 1583 0 0 0 0 0 0 28.83 28.83 13.57

8195 0.97 158.6 3616 1830 1723 1583 123.0 8.5 382 8200 0.00 2.35 0.00 0.000 260 0.000 0.057 3616 2838 1653 1723 1583 0 0 0 0 0 0 28.83 14.44 28.83

8376 0.97 158.6 3616 2837 1720 1583 106.0 10.1 393 8383 0.00 2.33 0.00 0.000 1030 0.000 0.044 3616 1822 1651 1720 1583 0 0 0 0 0 0 28.83 14.46 28.83

8684 0.99 169.4 3617 1824 1720 1583 80.9 7.1 414 8700 0.00 2.40 11.18 0.903 8452 0.000 0.057 3615 2837 1606 1674 1538 0 0 0 0 0 0 28.83 14.59 13.83

8841 1.01 184.3 3616 2837 1667 1537 69.9 6.6 424 8863 0.00 2.25 12.43 0.894 9222 0.000 0.043 3616 1844 1545 1607 1484 0 0 0 0 0 0 28.83 14.52 13.85

9178 1.07 216.2 3616 1845 1601 1491 48.9 4.6 446 9209 0.00 2.58 24.95 0.893 8708 0.000 0.063 3616 742 1415 1459 1371 0 0 0 0 0 0 28.83 14.60 13.90

9299 1.14 238.9 3616 742 1451 1370 42.8 5.7 453 9326 0.15 2.40 18.55 0.864 11270 0.122 0.041 3684 1823 1323 1361 1285 0 0 0 0 0 0 14.47 14.48 13.87

9642 1.14 238.9 3684 1823 1349 1283 8.3 10.6 476 9647 0.00 2.38 0.00 0.000 260 0.000 0.062 3684 2852 1316 1349 1283 0 0 0 0 0 0 28.83 14.32 28.83

9856 end climb: NO_VERTICAL_VELOCITY

state 9856 begin surface

ID	160	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
DIVE	511	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	INT_PRESSURE_YINT	1
D_TGT	450	SM_CC	517.58301	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_ABORT	500	N_FILEKB	4	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	VBD_MIN	190	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MAX	3660	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	C_VBD	2300	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_TRIES	4	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	67
T_DIVE	180	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	220	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	10	DBDW	0	PHONE_DEVICE	48
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-83151.414	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	0	STROBE	0	AH0_24V	350	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MINV_24V	11	SEABIRD_T_G	0.0043567605
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_10V	11	SEABIRD_T_H	0.00063562888
T_WATCHDOG	10	PITCH_MIN	155	FG_AHR_10V	0	SEABIRD_T_I	2.4601901e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_24V	0	SEABIRD_T_J	2.6145824e-06
APOGEE_PITCH	-5	C_PITCH	3295	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8833933
MAX_BUOY	100	PITCH_DBAND	0.1	PRESSURE_YINT	-21.182281	SEABIRD_C_H	1.1029875
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001158597	SEABIRD_C_I	-0.0011442616
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.00017903016
SPEED_FACTOR	1	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	55936	PITCH_AD_RATE	120	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_RECORDABOVE	250.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1.5	ALTIM_BOTTOM_TURN_MARGIN	10	TM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.003	ROLL_MAX	3200	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
HD_B	0.0099999998	ROLL_DEG	30	ALTIM_PING_DEPTH	0
HD_C	9.9999997e-06	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	1800	ALTIM_FREQUENCY	13

GPS1	080813,200301,2448.935,-3723.099,0,10000.0,0,-15.1	TGT_NAME	SE
_CALLS	4	TGT_LATLONG	2420.500,-3747.160
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080813,200301,2448.935,-3723.099,301,99.0,301,-15.1	MHEAD_RNG_PITCHd_Wd	187.7,66494,-27.0,-8.333,-30.00,882
SPEED_LIMITS	0.144,0.204	D_GRID	450

FREEZE	4.03,25.814,-1.685,0,34,0	_10V_AH	12.8,0.000
SM_CCo	9862,142.68,0.075,0,0,188,517.58	FG_AHR_24Vo	0.000
SM_GC	4.91,10.32,2.10,0.00,0.047,0.046,0.000,145,1953,190,-9.78,0.88,517.58,0,0,0,0,0,0,14.56,14.44,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2451.31,-3750.21,080813,232348	MEM	345076
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16749,490
HUMID	84.61	CAP_FILE_SIZE	143450,0
INTERNAL_PRESSURE	9.54525	CFSIZE	260034560,185503744
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	CURRENT	65.564, 95.9,1
SC_FREEKB	3824384	GPS	080813,234748,2451.311,-3750.206,0,10000.0,0,-15.1
_24V_AH	13.4,195.926

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	379	143.76	nil	0	0	0.00
Roll_motor	84	96	109.24	nil	0	0	0.00
VBD_pump_during_apogee	278	1424	5315.83	nil	0	0	0.00
VBD_pump_during_surface	142	74	143.33	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	9868	6	858.05
Iridium_during_xfer	1885	211	5335.38	TMICL	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	306	21	85.14
TT8	2016	9	238.01
LPSleep	6122	2	171.63
TT8_Active	526	9	62.10
TT8_Sampling	3666	27	1311.32
TT8_CF8	677	32	281.41
TT8_Kalman	0	0	0.00
Analog_circuits	3258	17	709.08
GPS_charging	0	0	0.00
Compass	1603	5	102.62
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-1.40	-48.0	144	1921	217	166	0.0	0.0	0	114	0.00	0.00	-89.32	0.000	16386	0.000	0.000	144	1921	2326	2300	2353	0	0	0	0	0	0	28.83	28.83	28.83
120	-1.45	-97.3	144	1921	2301	2354	3.2	-1.0	6	151	13.70	2.28	-9.00	0.000	18948	0.379	0.087	2821	923	2699	2714	2684	0	0	0	0	0	0	14.07	14.54	14.90
387	-1.34	-97.3	2821	923	2713	2684	49.9	-17.8	23	393	0.20	2.33	0.00	0.000	3078	0.291	0.058	2859	1941	2698	2713	2684	0	0	0	0	0	0	14.11	14.50	28.83
708	-1.30	-97.3	2859	1941	2713	2684	91.4	-12.4	44	714	0.00	2.33	0.00	0.000	516	0.000	0.064	2857	931	2698	2713	2684	0	0	0	0	0	0	28.83	14.47	28.83
722	-1.25	-97.3	2858	931	2713	2684	91.4	-12.4	44	729	0.15	2.33	0.00	0.000	3078	0.291	0.062	2888	1939	2698	2713	2684	0	0	0	0	0	0	14.16	14.50	28.83
1029	-1.22	-97.3	2888	1938	2713	2684	132.5	-13.1	65	1034	0.00	2.53	0.00	0.000	260	0.000	0.084	2887	3011	2698	2713	2683	0	0	0	0	0	0	28.83	14.44	28.83
1131	-1.19	-97.3	1792	3008	2650	2674	145.1	-13.8	71	1137	0.00	2.40	0.00	0.000	1030	0.000	0.042	2887	1954	2698	2713	2684	0	0	0	0	0	0	28.83	14.52	28.83
1446	-1.17	-97.3	2887	1954	2713	2683	189.1	-12.8	92	1453	0.12	2.50	0.00	0.000	2308	0.291	0.069	2914	3012	2697	2713	2682	0	0	0	0	0	0	14.14	14.44	28.83
1628	-1.17	-97.3	2914	3012	2713	2682	210.2	-12.0	103	1635	0.00	2.58	0.00	0.000	1030	0.000	0.050	2914	1886	2697	2713	2682	0	0	0	0	0	0	28.83	14.50	28.83
1935	-1.17	-97.3	2914	1887	2713	2680	243.1	-9.9	124	1941	0.00	2.30	0.00	0.000	516	0.000	0.069	2914	884	2696	2713	2679	0	0	0	0	0	0	28.83	14.48	28.83
2172	-1.17	-97.3	2914	883	2713	2678	264.8	-10.0	134	2177	0.00	2.25	0.00	0.000	1030	0.000	0.054	2914	1873	2696	2714	2678	0	0	0	0	0	0	28.83	14.50	28.83
2487	-1.17	-97.3	2914	1872	2713	2677	299.3	-10.5	145	2492	0.00	2.28	0.00	0.000	516	0.000	0.061	2913	882	2695	2713	2677	0	0	0	0	0	0	28.83	14.50	28.83
2722	-1.17	-97.3	2914	882	2713	2676	323.8	-11.7	152	2728	0.00	2.20	0.00	0.000	1030	0.000	0.052	2914	1852	2694	2713	2675	0	0	0	0	0	0	28.83	14.42	28.83
3038	-1.17	-97.3	2914	1851	2713	2672	363.8	-11.8	163	3045	0.00	2.22	0.00	0.000	516	0.000	0.061	2914	885	2692	2713	2672	0	0	0	0	0	0	28.83	14.50	28.83
3275	-1.17	-97.3	2914	885	2713	2671	389.0	-11.5	170	3280	0.00	2.17	0.00	0.000	1030	0.000	0.050	2914	1842	2691	2713	2670	0	0	0	0	0	0	28.83	14.48	28.83
3590	-1.17	-97.3	2914	1841	2713	2668	422.1	-9.6	181	3595	0.00	2.20	0.00	0.000	516	0.000	0.059	2914	883	2690	2713	2668	0	0	0	0	0	0	28.83	14.50	28.83
3786	-1.17	-97.3	2914	884	2713	2667	442.3	-11.2	187	3792	0.00	2.15	0.00	0.000	1030	0.000	0.050	2914	1829	2689	2713	2666	0	0	0	0	0	0	28.83	14.48	28.83
3867	end dive: TARGET_DEPTH_EXCEEDED
state	3867	begin apogee
3876	-0.25	0.0	2914	1745	2713	2666	453.4	-11.7	190	3960	1.10	0.15	77.05	1.424	10244	0.216	0.080	3203	1832	2298	2354	2243	0	0	0	0	0	0	13.89	14.40	13.42
3966	end apogee: CONTROL_FINISHED_OK
state	3966	begin climb
3969	1.45	97.3	3202	1832	2351	2242	457.3	0.0	193	4063	1.75	2.40	79.82	1.416	10500	0.099	0.074	3761	2837	1900	1965	1836	0	0	0	0	0	0	14.39	14.38	13.47
4226	1.32	98.7	3761	2837	1957	1832	449.2	8.2	201	4233	0.20	2.40	0.00	0.000	5126	0.330	0.050	3727	1793	1894	1956	1832	0	0	0	0	0	0	14.10	14.55	28.83
4551	1.24	108.1	3727	1794	1957	1828	425.4	7.2	212	4566	0.12	2.40	8.73	1.215	12548	0.328	0.064	3699	2832	1858	1928	1788	0	0	0	0	0	0	14.12	14.70	13.73
4799	1.16	108.1	3699	2832	1921	1787	401.5	10.0	220	4805	0.15	2.35	0.00	0.000	5126	0.311	0.050	3670	1805	1854	1921	1787	0	0	0	0	0	0	14.16	14.57	28.83
5139	1.11	108.1	3670	1799	1921	1784	370.3	9.4	231	5144	0.00	2.42	0.00	0.000	260	0.000	0.063	3671	2835	1852	1921	1784	0	0	0	0	0	0	28.83	14.52	28.83
5375	1.04	108.1	3671	2835	1919	1784	349.1	9.4	238	5381	0.17	2.33	0.00	0.000	5126	0.288	0.048	3636	1819	1851	1919	1784	0	0	0	0	0	0	14.11	14.56	28.83
5694	1.03	123.3	3636	1820	1919	1782	324.9	6.6	249	5712	0.00	2.35	13.35	1.187	8452	0.000	0.061	3636	2839	1795	1873	1718	0	0	0	0	0	0	28.83	14.67	13.71
5945	1.00	130.2	3636	2839	1864	1717	306.2	7.5	257	5959	0.00	2.33	6.82	1.096	9222	0.000	0.046	3643	1822	1767	1845	1690	0	0	0	0	0	0	28.83	14.54	13.76
6279	0.98	131.8	3643	1822	1839	1687	280.3	8.2	268	6285	0.12	2.38	0.00	0.000	4356	0.301	0.058	3615	2837	1763	1839	1688	0	0	0	0	0	0	14.11	14.48	28.83
6516	0.96	131.8	3615	2837	1837	1686	261.0	8.4	275	6521	0.00	2.33	0.00	0.000	1030	0.000	0.047	3615	1825	1761	1837	1686	0	0	0	0	0	0	28.83	14.52	28.83
6832	0.97	144.9	3616	1825	1837	1687	236.0	6.8	292	6847	0.00	0.00	13.20	1.101	8198	0.000	0.000	3616	1826	1709	1788	1630	0	0	0	0	0	0	28.83	28.83	13.74
7146	0.98	152.9	3616	1826	1779	1628	212.7	7.4	313	7162	0.00	2.35	7.88	1.028	8452	0.000	0.061	3616	2839	1673	1748	1598	0	0	0	0	0	0	28.83	14.65	13.78
7273	0.96	152.9	3616	2839	1744	1597	200.8	9.9	321	7279	0.00	2.35	0.00	0.000	1030	0.000	0.050	3616	1829	1670	1743	1598	0	0	0	0	0	0	28.83	14.52	28.83
7595	0.96	152.9	3616	1830	1743	1597	171.1	9.4	342	7596	0.00	0.00	0.00	0.000	6	0.000	0.000	3616	1830	1670	1743	1597	0	0	0	0	0	0	28.83	28.83	28.83
7894	0.97	158.6	3616	1830	1742	1596	146.5	7.7	362	7900	0.00	0.00	4.55	0.876	8198	0.000	0.000	3616	1830	1653	1723	1583	0	0	0	0	0	0	28.83	28.83	13.57
8195	0.97	158.6	3616	1830	1723	1583	123.0	8.5	382	8200	0.00	2.35	0.00	0.000	260	0.000	0.057	3616	2838	1653	1723	1583	0	0	0	0	0	0	28.83	14.44	28.83
8376	0.97	158.6	3616	2837	1720	1583	106.0	10.1	393	8383	0.00	2.33	0.00	0.000	1030	0.000	0.044	3616	1822	1651	1720	1583	0	0	0	0	0	0	28.83	14.46	28.83
8684	0.99	169.4	3617	1824	1720	1583	80.9	7.1	414	8700	0.00	2.40	11.18	0.903	8452	0.000	0.057	3615	2837	1606	1674	1538	0	0	0	0	0	0	28.83	14.59	13.83
8841	1.01	184.3	3616	2837	1667	1537	69.9	6.6	424	8863	0.00	2.25	12.43	0.894	9222	0.000	0.043	3616	1844	1545	1607	1484	0	0	0	0	0	0	28.83	14.52	13.85
9178	1.07	216.2	3616	1845	1601	1491	48.9	4.6	446	9209	0.00	2.58	24.95	0.893	8708	0.000	0.063	3616	742	1415	1459	1371	0	0	0	0	0	0	28.83	14.60	13.90
9299	1.14	238.9	3616	742	1451	1370	42.8	5.7	453	9326	0.15	2.40	18.55	0.864	11270	0.122	0.041	3684	1823	1323	1361	1285	0	0	0	0	0	0	14.47	14.48	13.87
9642	1.14	238.9	3684	1823	1349	1283	8.3	10.6	476	9647	0.00	2.38	0.00	0.000	260	0.000	0.062	3684	2852	1316	1349	1283	0	0	0	0	0	0	28.83	14.32	28.83
9856	end climb: NO_VERTICAL_VELOCITY
state	9856	begin surface