Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 515 * 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 515 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 30 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 35 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 -85287.805 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 -85287.805

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 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 35 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 515 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 090813,103324,2500.451,-3750.859,301,99.0,301,-14.9 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 2.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090813,103324,2500.451,-3750.859,301,99.0,301,-14.9 MHEAD_RNG_PITCHd_Wd 145.1,74251,-27.0,-8.333,-30.00,882

SPEED_LIMITS 0.144,0.204 D_GRID 450

Post-dive calculations and measurements:

FREEZE 4.29,26.157,-2.073,0,38,0 _10V_AH 12.9,0.000

SM_CCo 9861,155.93,0.073,0,0,189,517.58 FG_AHR_24Vo 0.000

SM_GC 4.92,10.25,0.25,0.00,0.046,0.070,0.000,143,1961,189,-9.79,-0.62,517.83,0,0,0,0,0,0,14.57,14.51,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2448.93,-3750.21,090813,141452 MEM 345060

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16778,488

HUMID 83.66 CAP_FILE_SIZE 137206,0

INTERNAL_PRESSURE 9.53548 CFSIZE 260034560,185163776

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

XPDR_PINGS 0 CURRENT 19.280, 0.4,1

SC_FREEKB 3822848 GPS 090813,140452,2448.935,-3750.206,0,10000.0,0,-14.9

_24V_AH 13.4,196.776

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 374 140.98 nil 0 0 0.00

Roll_motor 94 85 108.61 nil 0 0 0.00

VBD_pump_during_apogee 255 1406 4809.72 nil 0 0 0.00

VBD_pump_during_surface 155 73 153.45 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 9866 6 865.15

Iridium_during_xfer 732 219 2156.15 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 302 21 84.78

TT8 2037 9 242.34

LPSleep 6080 2 171.79

TT8_Active 522 9 62.18

TT8_Sampling 2640 27 951.79

TT8_CF8 570 32 238.85

TT8_Kalman 0 0 0.00

Analog_circuits 2111 17 462.99

GPS_charging 0 0 0.00

Compass 1615 5 104.17

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -1.40 -48.0 140 1914 219 164 0.0 0.0 0 116 0.00 0.00 -91.25 0.000 16386 0.000 0.000 140 1915 2387 2358 2416 0 0 0 0 0 0 28.83 28.83 28.83

122 -1.45 -97.3 140 1915 2358 2417 3.5 -1.2 6 152 13.57 2.38 -7.00 0.000 18948 0.374 0.086 2822 897 2698 2711 2686 0 0 0 0 0 0 14.02 14.42 14.87

319 -1.35 -97.3 2822 897 2712 2686 41.1 -19.9 18 327 0.17 2.38 0.00 0.000 3078 0.295 0.055 2852 1937 2699 2712 2686 0 0 0 0 0 0 14.04 14.47 28.83

626 -1.30 -97.3 2852 1936 2712 2685 89.9 -12.0 39 632 0.00 2.40 0.00 0.000 516 0.000 0.062 2852 903 2698 2712 2685 0 0 0 0 0 0 28.83 14.44 28.83

819 -1.24 -97.3 2853 903 2712 2685 113.0 -12.8 51 825 0.17 2.35 0.00 0.000 3078 0.277 0.054 2890 1936 2698 2712 2684 0 0 0 0 0 0 14.07 14.49 28.83

1135 -1.21 -97.3 2889 1935 2712 2684 150.8 -12.5 72 1140 0.00 2.40 0.00 0.000 516 0.000 0.061 2890 901 2697 2711 2684 0 0 0 0 0 0 28.83 14.42 28.83

1340 -1.19 -97.3 1856 901 2651 2675 176.3 -12.5 85 1346 0.00 2.28 0.00 0.000 1030 0.000 0.050 2886 1909 2698 2712 2684 0 0 0 0 0 0 28.83 14.50 28.83

1656 -1.17 -97.3 2886 1908 2712 2683 213.4 -10.6 106 1662 0.12 2.33 0.00 0.000 2564 0.303 0.055 2915 897 2697 2712 2683 0 0 0 0 0 0 14.08 14.44 28.83

1868 -1.17 -97.3 2915 897 2712 2683 233.4 -9.3 119 1875 0.00 2.22 0.00 0.000 1030 0.000 0.048 2914 1887 2696 2712 2681 0 0 0 0 0 0 28.83 14.51 28.83

2175 -1.17 -97.3 2913 1886 2712 2680 261.8 -9.2 136 2180 0.00 2.28 0.00 0.000 516 0.000 0.056 2914 898 2696 2712 2680 0 0 0 0 0 0 28.83 14.45 28.83

2395 -1.17 -97.3 1888 898 2655 2670 283.9 -10.7 143 2400 0.00 2.20 0.00 0.000 1030 0.000 0.046 2914 1877 2695 2712 2679 0 0 0 0 0 0 28.83 14.50 28.83

2728 -1.17 -97.3 2914 1876 2712 2677 320.0 -11.0 154 2733 0.00 2.22 0.00 0.000 516 0.000 0.055 2914 899 2694 2711 2677 0 0 0 0 0 0 28.83 14.47 28.83

2945 -1.17 -97.3 2914 900 2712 2676 344.0 -10.9 161 2950 0.00 2.17 0.00 0.000 1030 0.000 0.044 2914 1863 2693 2711 2675 0 0 0 0 0 0 28.83 14.50 28.83

3283 -1.17 -97.3 2914 1863 2711 2672 380.0 -10.7 172 3288 0.00 2.20 0.00 0.000 516 0.000 0.055 2914 898 2692 2711 2673 0 0 0 0 0 0 28.83 14.40 28.83

3515 -1.17 -97.3 2914 898 2712 2671 405.0 -11.9 179 3521 0.00 2.12 0.00 0.000 1030 0.000 0.044 2914 1845 2691 2712 2671 0 0 0 0 0 0 28.83 14.48 28.83

3840 -1.17 -97.3 2914 1843 2712 2669 445.7 -12.3 190 3845 0.00 2.20 0.00 0.000 516 0.000 0.055 2914 891 2689 2711 2668 0 0 0 0 0 0 28.83 14.44 28.83

3871 end dive: TARGET_DEPTH_EXCEEDED

state 3871 begin apogee

3881 -0.25 0.0 2914 1798 2712 2668 450.4 -12.2 191 3965 1.10 0.00 77.55 1.406 10244 0.215 0.000 3202 1798 2295 2335 2256 0 0 0 0 0 0 13.84 28.83 13.43

3966 end apogee: CONTROL_FINISHED_OK

state 3966 begin climb

3974 1.45 97.3 3202 1797 2331 2256 454.6 0.0 194 4065 1.75 2.53 80.30 1.406 10500 0.098 0.073 3760 2860 1898 1962 1834 0 0 0 0 0 0 14.37 14.37 13.47

4299 1.32 97.3 3760 2859 1950 1826 440.0 9.1 204 4306 0.22 2.42 0.00 0.000 5126 0.332 0.049 3722 1797 1888 1950 1826 0 0 0 0 0 0 14.06 14.56 28.83

4608 1.24 103.5 3722 1798 1950 1823 414.4 7.6 215 4615 0.00 2.47 0.80 0.080 8452 0.000 0.062 3722 2856 1880 1946 1814 0 0 0 0 0 0 28.83 14.50 14.33

4845 1.14 103.5 3722 2856 1946 1819 395.8 8.4 222 4851 0.28 2.40 0.00 0.000 5126 0.295 0.047 3667 1801 1882 1946 1819 0 0 0 0 0 0 14.02 14.57 28.83

5166 1.10 109.0 3667 1802 1947 1815 370.7 7.7 233 5180 0.00 2.45 8.62 1.157 8452 0.000 0.061 3667 2862 1851 1927 1776 0 0 0 0 0 0 28.83 14.69 13.66

5337 1.03 109.0 3667 2861 1923 1774 356.8 8.6 238 5343 0.20 2.42 0.00 0.000 5126 0.287 0.047 3630 1791 1849 1924 1774 0 0 0 0 0 0 14.07 14.47 28.83

5662 1.03 124.8 3630 1792 1924 1772 333.6 6.5 249 5684 0.00 2.50 13.80 1.200 8452 0.000 0.062 3630 2851 1788 1866 1710 0 0 0 0 0 0 28.83 14.63 13.74

5788 1.00 133.1 3630 2851 1861 1709 324.1 7.4 253 5802 0.00 2.40 8.45 1.138 9222 0.000 0.046 3630 1805 1756 1835 1677 0 0 0 0 0 0 28.83 14.55 13.74

6123 1.01 141.0 3630 1805 1827 1672 299.6 7.4 264 6136 0.00 2.42 7.78 1.099 8452 0.000 0.059 3631 2856 1720 1801 1640 0 0 0 0 0 0 28.83 14.67 13.74

6309 0.98 141.0 3630 2856 1795 1639 282.2 9.3 270 6314 0.00 2.40 0.00 0.000 1030 0.000 0.047 3630 1806 1717 1795 1639 0 0 0 0 0 0 28.83 14.53 28.83

6648 0.98 141.0 3630 1807 1794 1639 251.2 9.1 281 6653 0.00 2.47 0.00 0.000 260 0.000 0.061 3630 2857 1716 1794 1638 0 0 0 0 0 0 28.83 14.44 28.83

6692 0.98 141.0 3630 2857 1793 1638 247.4 9.1 282 6699 0.00 2.35 0.00 0.000 1030 0.000 0.046 3630 1827 1715 1793 1638 0 0 0 0 0 0 28.83 14.50 28.83

6998 0.99 150.1 3630 1828 1793 1638 223.3 7.3 303 7014 0.00 2.38 8.10 1.035 8452 0.000 0.060 3630 2858 1683 1756 1610 0 0 0 0 0 0 28.83 14.66 13.73

7249 0.96 150.1 3630 2857 1749 1611 202.0 9.3 319 7254 0.00 2.35 0.00 0.000 1030 0.000 0.047 3630 1833 1678 1749 1608 0 0 0 0 0 0 28.83 14.47 28.83

7570 0.96 150.1 3630 1834 1748 1610 174.3 8.4 340 7575 0.00 2.42 0.00 0.000 260 0.000 0.061 3631 2859 1679 1748 1611 0 0 0 0 0 0 28.83 14.40 28.83

7807 0.94 150.1 2832 2855 1700 1605 153.9 8.6 355 7813 0.15 2.30 0.00 0.000 5126 0.276 0.046 3599 1859 1679 1748 1611 0 0 0 0 0 0 14.02 14.41 28.83

8125 0.98 172.0 3599 1859 1747 1611 134.1 5.8 376 8149 0.00 2.53 18.23 0.991 8708 0.000 0.061 3600 746 1596 1664 1529 0 0 0 0 0 0 28.83 14.63 13.77

8229 1.03 195.9 3600 746 1659 1529 128.2 5.6 382 8255 0.00 2.45 20.10 1.001 9222 0.000 0.038 3600 1841 1498 1562 1435 0 0 0 0 0 0 28.83 14.50 13.81

8570 1.07 195.9 3599 1841 1551 1434 99.6 9.0 405 8576 0.12 2.38 0.00 0.000 2308 0.140 0.064 3655 2862 1492 1550 1434 0 0 0 0 0 0 14.38 14.39 28.83

8699 1.04 195.9 3655 2861 1548 1434 85.2 11.1 413 8705 0.00 2.35 0.00 0.000 1030 0.000 0.047 3656 1843 1490 1547 1434 0 0 0 0 0 0 28.83 14.43 28.83

9019 1.04 195.9 3656 1844 1547 1441 55.4 8.4 434 9024 0.00 2.55 0.00 0.000 516 0.000 0.063 3656 738 1490 1547 1434 0 0 0 0 0 0 28.83 14.38 28.83

9074 1.05 196.8 3656 739 1547 1435 51.4 8.2 437 9080 0.00 2.50 0.00 0.000 1030 0.000 0.039 3656 1858 1491 1547 1435 0 0 0 0 0 0 28.83 14.46 28.83

9390 1.06 210.9 3656 1852 1546 1436 31.6 6.7 458 9407 0.00 2.38 11.55 0.822 8452 0.000 0.067 3656 2862 1435 1481 1390 0 0 0 0 0 0 28.83 14.62 13.86

9642 1.04 210.9 3656 2861 1467 1396 8.6 10.2 474 9647 0.00 2.30 0.00 0.000 1030 0.000 0.046 3658 1852 1431 1467 1396 0 0 0 0 0 0 28.83 14.40 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	515	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	30	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	35	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	-85287.805	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	090813,103324,2500.451,-3750.859,301,99.0,301,-14.9	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	2.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090813,103324,2500.451,-3750.859,301,99.0,301,-14.9	MHEAD_RNG_PITCHd_Wd	145.1,74251,-27.0,-8.333,-30.00,882
SPEED_LIMITS	0.144,0.204	D_GRID	450

FREEZE	4.29,26.157,-2.073,0,38,0	_10V_AH	12.9,0.000
SM_CCo	9861,155.93,0.073,0,0,189,517.58	FG_AHR_24Vo	0.000
SM_GC	4.92,10.25,0.25,0.00,0.046,0.070,0.000,143,1961,189,-9.79,-0.62,517.83,0,0,0,0,0,0,14.57,14.51,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2448.93,-3750.21,090813,141452	MEM	345060
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16778,488
HUMID	83.66	CAP_FILE_SIZE	137206,0
INTERNAL_PRESSURE	9.53548	CFSIZE	260034560,185163776
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	19.280, 0.4,1
SC_FREEKB	3822848	GPS	090813,140452,2448.935,-3750.206,0,10000.0,0,-14.9
_24V_AH	13.4,196.776

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	374	140.98	nil	0	0	0.00
Roll_motor	94	85	108.61	nil	0	0	0.00
VBD_pump_during_apogee	255	1406	4809.72	nil	0	0	0.00
VBD_pump_during_surface	155	73	153.45	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	9866	6	865.15
Iridium_during_xfer	732	219	2156.15	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	302	21	84.78
TT8	2037	9	242.34
LPSleep	6080	2	171.79
TT8_Active	522	9	62.18
TT8_Sampling	2640	27	951.79
TT8_CF8	570	32	238.85
TT8_Kalman	0	0	0.00
Analog_circuits	2111	17	462.99
GPS_charging	0	0	0.00
Compass	1615	5	104.17
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-1.40	-48.0	140	1914	219	164	0.0	0.0	0	116	0.00	0.00	-91.25	0.000	16386	0.000	0.000	140	1915	2387	2358	2416	0	0	0	0	0	0	28.83	28.83	28.83
122	-1.45	-97.3	140	1915	2358	2417	3.5	-1.2	6	152	13.57	2.38	-7.00	0.000	18948	0.374	0.086	2822	897	2698	2711	2686	0	0	0	0	0	0	14.02	14.42	14.87
319	-1.35	-97.3	2822	897	2712	2686	41.1	-19.9	18	327	0.17	2.38	0.00	0.000	3078	0.295	0.055	2852	1937	2699	2712	2686	0	0	0	0	0	0	14.04	14.47	28.83
626	-1.30	-97.3	2852	1936	2712	2685	89.9	-12.0	39	632	0.00	2.40	0.00	0.000	516	0.000	0.062	2852	903	2698	2712	2685	0	0	0	0	0	0	28.83	14.44	28.83
819	-1.24	-97.3	2853	903	2712	2685	113.0	-12.8	51	825	0.17	2.35	0.00	0.000	3078	0.277	0.054	2890	1936	2698	2712	2684	0	0	0	0	0	0	14.07	14.49	28.83
1135	-1.21	-97.3	2889	1935	2712	2684	150.8	-12.5	72	1140	0.00	2.40	0.00	0.000	516	0.000	0.061	2890	901	2697	2711	2684	0	0	0	0	0	0	28.83	14.42	28.83
1340	-1.19	-97.3	1856	901	2651	2675	176.3	-12.5	85	1346	0.00	2.28	0.00	0.000	1030	0.000	0.050	2886	1909	2698	2712	2684	0	0	0	0	0	0	28.83	14.50	28.83
1656	-1.17	-97.3	2886	1908	2712	2683	213.4	-10.6	106	1662	0.12	2.33	0.00	0.000	2564	0.303	0.055	2915	897	2697	2712	2683	0	0	0	0	0	0	14.08	14.44	28.83
1868	-1.17	-97.3	2915	897	2712	2683	233.4	-9.3	119	1875	0.00	2.22	0.00	0.000	1030	0.000	0.048	2914	1887	2696	2712	2681	0	0	0	0	0	0	28.83	14.51	28.83
2175	-1.17	-97.3	2913	1886	2712	2680	261.8	-9.2	136	2180	0.00	2.28	0.00	0.000	516	0.000	0.056	2914	898	2696	2712	2680	0	0	0	0	0	0	28.83	14.45	28.83
2395	-1.17	-97.3	1888	898	2655	2670	283.9	-10.7	143	2400	0.00	2.20	0.00	0.000	1030	0.000	0.046	2914	1877	2695	2712	2679	0	0	0	0	0	0	28.83	14.50	28.83
2728	-1.17	-97.3	2914	1876	2712	2677	320.0	-11.0	154	2733	0.00	2.22	0.00	0.000	516	0.000	0.055	2914	899	2694	2711	2677	0	0	0	0	0	0	28.83	14.47	28.83
2945	-1.17	-97.3	2914	900	2712	2676	344.0	-10.9	161	2950	0.00	2.17	0.00	0.000	1030	0.000	0.044	2914	1863	2693	2711	2675	0	0	0	0	0	0	28.83	14.50	28.83
3283	-1.17	-97.3	2914	1863	2711	2672	380.0	-10.7	172	3288	0.00	2.20	0.00	0.000	516	0.000	0.055	2914	898	2692	2711	2673	0	0	0	0	0	0	28.83	14.40	28.83
3515	-1.17	-97.3	2914	898	2712	2671	405.0	-11.9	179	3521	0.00	2.12	0.00	0.000	1030	0.000	0.044	2914	1845	2691	2712	2671	0	0	0	0	0	0	28.83	14.48	28.83
3840	-1.17	-97.3	2914	1843	2712	2669	445.7	-12.3	190	3845	0.00	2.20	0.00	0.000	516	0.000	0.055	2914	891	2689	2711	2668	0	0	0	0	0	0	28.83	14.44	28.83
3871	end dive: TARGET_DEPTH_EXCEEDED
state	3871	begin apogee
3881	-0.25	0.0	2914	1798	2712	2668	450.4	-12.2	191	3965	1.10	0.00	77.55	1.406	10244	0.215	0.000	3202	1798	2295	2335	2256	0	0	0	0	0	0	13.84	28.83	13.43
3966	end apogee: CONTROL_FINISHED_OK
state	3966	begin climb
3974	1.45	97.3	3202	1797	2331	2256	454.6	0.0	194	4065	1.75	2.53	80.30	1.406	10500	0.098	0.073	3760	2860	1898	1962	1834	0	0	0	0	0	0	14.37	14.37	13.47
4299	1.32	97.3	3760	2859	1950	1826	440.0	9.1	204	4306	0.22	2.42	0.00	0.000	5126	0.332	0.049	3722	1797	1888	1950	1826	0	0	0	0	0	0	14.06	14.56	28.83
4608	1.24	103.5	3722	1798	1950	1823	414.4	7.6	215	4615	0.00	2.47	0.80	0.080	8452	0.000	0.062	3722	2856	1880	1946	1814	0	0	0	0	0	0	28.83	14.50	14.33
4845	1.14	103.5	3722	2856	1946	1819	395.8	8.4	222	4851	0.28	2.40	0.00	0.000	5126	0.295	0.047	3667	1801	1882	1946	1819	0	0	0	0	0	0	14.02	14.57	28.83
5166	1.10	109.0	3667	1802	1947	1815	370.7	7.7	233	5180	0.00	2.45	8.62	1.157	8452	0.000	0.061	3667	2862	1851	1927	1776	0	0	0	0	0	0	28.83	14.69	13.66
5337	1.03	109.0	3667	2861	1923	1774	356.8	8.6	238	5343	0.20	2.42	0.00	0.000	5126	0.287	0.047	3630	1791	1849	1924	1774	0	0	0	0	0	0	14.07	14.47	28.83
5662	1.03	124.8	3630	1792	1924	1772	333.6	6.5	249	5684	0.00	2.50	13.80	1.200	8452	0.000	0.062	3630	2851	1788	1866	1710	0	0	0	0	0	0	28.83	14.63	13.74
5788	1.00	133.1	3630	2851	1861	1709	324.1	7.4	253	5802	0.00	2.40	8.45	1.138	9222	0.000	0.046	3630	1805	1756	1835	1677	0	0	0	0	0	0	28.83	14.55	13.74
6123	1.01	141.0	3630	1805	1827	1672	299.6	7.4	264	6136	0.00	2.42	7.78	1.099	8452	0.000	0.059	3631	2856	1720	1801	1640	0	0	0	0	0	0	28.83	14.67	13.74
6309	0.98	141.0	3630	2856	1795	1639	282.2	9.3	270	6314	0.00	2.40	0.00	0.000	1030	0.000	0.047	3630	1806	1717	1795	1639	0	0	0	0	0	0	28.83	14.53	28.83
6648	0.98	141.0	3630	1807	1794	1639	251.2	9.1	281	6653	0.00	2.47	0.00	0.000	260	0.000	0.061	3630	2857	1716	1794	1638	0	0	0	0	0	0	28.83	14.44	28.83
6692	0.98	141.0	3630	2857	1793	1638	247.4	9.1	282	6699	0.00	2.35	0.00	0.000	1030	0.000	0.046	3630	1827	1715	1793	1638	0	0	0	0	0	0	28.83	14.50	28.83
6998	0.99	150.1	3630	1828	1793	1638	223.3	7.3	303	7014	0.00	2.38	8.10	1.035	8452	0.000	0.060	3630	2858	1683	1756	1610	0	0	0	0	0	0	28.83	14.66	13.73
7249	0.96	150.1	3630	2857	1749	1611	202.0	9.3	319	7254	0.00	2.35	0.00	0.000	1030	0.000	0.047	3630	1833	1678	1749	1608	0	0	0	0	0	0	28.83	14.47	28.83
7570	0.96	150.1	3630	1834	1748	1610	174.3	8.4	340	7575	0.00	2.42	0.00	0.000	260	0.000	0.061	3631	2859	1679	1748	1611	0	0	0	0	0	0	28.83	14.40	28.83
7807	0.94	150.1	2832	2855	1700	1605	153.9	8.6	355	7813	0.15	2.30	0.00	0.000	5126	0.276	0.046	3599	1859	1679	1748	1611	0	0	0	0	0	0	14.02	14.41	28.83
8125	0.98	172.0	3599	1859	1747	1611	134.1	5.8	376	8149	0.00	2.53	18.23	0.991	8708	0.000	0.061	3600	746	1596	1664	1529	0	0	0	0	0	0	28.83	14.63	13.77
8229	1.03	195.9	3600	746	1659	1529	128.2	5.6	382	8255	0.00	2.45	20.10	1.001	9222	0.000	0.038	3600	1841	1498	1562	1435	0	0	0	0	0	0	28.83	14.50	13.81
8570	1.07	195.9	3599	1841	1551	1434	99.6	9.0	405	8576	0.12	2.38	0.00	0.000	2308	0.140	0.064	3655	2862	1492	1550	1434	0	0	0	0	0	0	14.38	14.39	28.83
8699	1.04	195.9	3655	2861	1548	1434	85.2	11.1	413	8705	0.00	2.35	0.00	0.000	1030	0.000	0.047	3656	1843	1490	1547	1434	0	0	0	0	0	0	28.83	14.43	28.83
9019	1.04	195.9	3656	1844	1547	1441	55.4	8.4	434	9024	0.00	2.55	0.00	0.000	516	0.000	0.063	3656	738	1490	1547	1434	0	0	0	0	0	0	28.83	14.38	28.83
9074	1.05	196.8	3656	739	1547	1435	51.4	8.2	437	9080	0.00	2.50	0.00	0.000	1030	0.000	0.039	3656	1858	1491	1547	1435	0	0	0	0	0	0	28.83	14.46	28.83
9390	1.06	210.9	3656	1852	1546	1436	31.6	6.7	458	9407	0.00	2.38	11.55	0.822	8452	0.000	0.067	3656	2862	1435	1481	1390	0	0	0	0	0	0	28.83	14.62	13.86
9642	1.04	210.9	3656	2861	1467	1396	8.6	10.2	474	9647	0.00	2.30	0.00	0.000	1030	0.000	0.046	3658	1852	1431	1467	1396	0	0	0	0	0	0	28.83	14.40	28.83
9856	end climb: NO_VERTICAL_VELOCITY
state	9856	begin surface