Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 574 * 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 574 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 INT_PRESSURE_YINT 1

D_TGT 540 SM_CC 465.08878 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_ABORT 600 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 2086 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 240 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 270 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 4 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 -114735.83 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 150 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 40 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 0.00269 ROLL_MAX 3200 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

HD_B 0.031300001 ROLL_DEG 30 ALTIM_PING_DEPTH 0

HD_C 1.8999999e-05 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 540 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 40 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 0.00269 PROTOCOL 9 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_B 0.031300001 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_NDIVES 1 HD_C 1.8999999e-05 RAFOS_CORR_THRESH 60 T_BOOST 5

CALL_TRIES 4 HEADING -1 RAFOS_DEVICE -1 T_DIVE 240

CALL_WAIT 60 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 160 RHO 1.0275 T_GPS_CHARGE -114735.83

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 270

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 2086 MASS 55936 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 R_PORT_OVSHOOT 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 574 N_FILEKB 4 SEABIRD_T_G 0.0043567605 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 600 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 465.08878

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 200813,030803,2448.935,-3731.652,0,10000.0,0,-14.9 TGT_NAME CTR

_CALLS 4 TGT_LATLONG 2434.000,-3802.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200813,030803,2448.935,-3731.652,241,99.0,241,-14.9 MHEAD_RNG_PITCHd_Wd 211.5,58120,-30.8,-7.500,-40.00,1453

SPEED_LIMITS 0.089,0.128 D_GRID 540

Post-dive calculations and measurements:

FINISH 3.3,1.025020 _10V_AH 13.3,0.000

SM_CCo 9395,152.57,0.072,0,0,189,465.09 FG_AHR_24Vo 0.000

SM_GC 3.74,10.73,0.28,0.00,0.047,0.056,0.000,144,1954,190,-9.77,-0.79,465.09,0,0,0,0,0,0,14.54,14.56,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2446.56,-3733.54,200813,070724 MEM 344768

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16747,452

HUMID 80.79 CAP_FILE_SIZE 126407,0

INTERNAL_PRESSURE 9.50619 CFSIZE 260034560,179552256

TCM_TEMP 23.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 4.258, 45.1,1

SC_FREEKB 3800192 GPS 200813,075324,2446.559,-3733.536,0,10000.0,0,-14.9

_24V_AH 13.3,210.298

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 373 144.86 nil 0 0 0.00

Roll_motor 76 83 84.67 nil 0 0 0.00

VBD_pump_during_apogee 247 1553 5119.61 nil 0 0 0.00

VBD_pump_during_surface 152 71 145.92 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 9418 5 649.47

Iridium_during_xfer 863 228 2627.60 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 243 21 70.36

TT8 1779 9 218.16

LPSleep 5978 2 174.13

TT8_Active 501 9 61.46

TT8_Sampling 2417 27 898.38

TT8_CF8 1137 32 490.52

TT8_Kalman 0 0 0.00

Analog_circuits 2093 17 473.25

GPS_charging 0 0 0.00

Compass 1356 5 90.20

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 -1.61 -72.9 134 1944 219 165 0.0 0.0 0 116 0.00 0.00 -90.57 0.000 16390 0.000 0.000 135 1945 2384 2352 2417 0 0 0 0 0 0 28.83 28.83 14.83

122 -1.68 -146.0 134 1945 2353 2417 3.6 -1.7 6 148 13.20 2.47 -6.80 0.000 18948 0.373 0.083 2748 891 2682 2688 2676 0 0 0 0 0 0 13.97 14.52 14.85

384 -1.59 -146.0 2748 891 2689 2675 51.9 -18.8 22 392 0.17 2.50 0.00 0.000 3078 0.321 0.065 2780 1949 2682 2689 2675 0 0 0 0 0 0 13.90 14.38 28.83

688 -1.52 -146.0 2780 1947 2689 2675 103.8 -15.7 43 693 0.00 2.50 0.00 0.000 516 0.000 0.067 2780 887 2681 2689 2674 0 0 0 0 0 0 28.83 14.40 28.83

927 -1.45 -146.0 2781 887 2689 2674 137.0 -13.8 58 933 0.25 2.42 0.00 0.000 3078 0.299 0.063 2826 1921 2681 2689 2673 0 0 0 0 0 0 13.88 14.40 28.83

1244 -1.42 -146.0 2825 1919 2689 2673 173.4 -10.7 79 1249 0.00 2.45 0.00 0.000 516 0.000 0.067 2826 891 2681 2690 2672 0 0 0 0 0 0 28.83 14.26 28.83

1420 -1.38 -146.0 1760 890 2627 2664 191.9 -10.8 90 1426 0.15 2.35 0.00 0.000 3078 0.289 0.059 2847 1902 2680 2689 2672 0 0 0 0 0 0 14.00 14.42 28.83

1736 -1.38 -146.0 2847 1901 2689 2672 228.4 -12.4 111 1741 0.00 2.38 0.00 0.000 516 0.000 0.063 2847 889 2680 2689 2672 0 0 0 0 0 0 28.83 14.40 28.83

1803 -1.36 -146.0 2847 889 2689 2672 236.8 -12.8 115 1808 0.00 2.35 0.00 0.000 1030 0.000 0.056 2847 1897 2680 2689 2671 0 0 0 0 0 0 28.83 14.33 28.83

2126 -1.36 -146.0 2843 1896 2689 2671 278.6 -12.9 129 2131 0.00 2.35 0.00 0.000 516 0.000 0.060 2847 889 2679 2689 2670 0 0 0 0 0 0 28.83 14.42 28.83

2353 -1.34 -146.0 2847 889 2689 2669 306.3 -12.4 136 2358 0.00 2.28 0.00 0.000 1030 0.000 0.054 2846 1872 2678 2689 2668 0 0 0 0 0 0 28.83 14.36 28.83

2683 -1.34 -146.0 2846 1871 2691 2667 345.4 -11.6 147 2688 0.00 2.30 0.00 0.000 516 0.000 0.060 2846 885 2677 2689 2666 0 0 0 0 0 0 28.83 14.33 28.83

2815 -1.33 -146.0 2846 886 2689 2666 360.0 -11.3 151 2821 0.00 2.25 0.00 0.000 1030 0.000 0.052 2844 1859 2677 2689 2666 0 0 0 0 0 0 28.83 14.41 28.83

3150 -1.33 -146.0 2844 1858 2688 2664 397.7 -11.3 162 3155 0.00 2.28 0.00 0.000 516 0.000 0.060 2844 884 2676 2689 2663 0 0 0 0 0 0 28.83 14.39 28.83

3387 -1.31 -146.0 2844 884 2689 2661 424.2 -12.3 169 3393 0.00 2.22 0.00 0.000 1030 0.000 0.051 2844 1849 2675 2689 2661 0 0 0 0 0 0 28.83 14.42 28.83

3703 -1.31 -146.0 2847 1848 2689 2659 466.0 -12.5 180 3708 0.00 2.25 0.00 0.000 516 0.000 0.059 2844 886 2674 2689 2659 0 0 0 0 0 0 28.83 14.29 28.83

3890 -1.31 -146.0 2843 886 2689 2658 489.4 -12.4 186 3896 0.00 2.17 0.00 0.000 1030 0.000 0.050 2844 1827 2673 2689 2658 0 0 0 0 0 0 28.83 14.40 28.83

4230 -1.31 -146.0 2844 1826 2688 2655 530.1 -12.3 197 4235 0.00 2.17 0.00 0.000 516 0.000 0.058 2844 888 2672 2689 2655 0 0 0 0 0 0 28.83 14.38 28.83

4314 -1.31 -146.0 2844 888 2689 2654 538.8 -12.4 199 4320 0.00 2.12 0.00 0.000 1030 0.000 0.049 2843 1813 2671 2689 2654 0 0 0 0 0 0 28.83 14.38 28.83

4324 end dive: TARGET_DEPTH_EXCEEDED

state 4324 begin apogee

4333 -0.25 0.0 2843 1813 2689 2654 542.9 -12.4 200 4461 1.48 0.00 118.10 1.554 10244 0.238 0.000 3207 1812 2085 2141 2030 0 0 0 0 0 0 13.71 28.83 13.31

4463 end apogee: CONTROL_FINISHED_OK

state 4463 begin climb

4467 1.68 146.0 3208 1811 2135 2025 547.9 0.0 204 4600 1.95 0.00 119.18 1.540 11270 0.103 0.000 3836 1812 1484 1526 1443 0 0 0 0 0 0 14.29 28.83 13.38

4901 1.59 146.0 3836 1812 1511 1440 489.5 15.7 219 4907 0.00 2.45 0.00 0.000 260 0.000 0.067 3836 2862 1475 1510 1440 0 0 0 0 0 0 28.83 14.44 28.83

5133 1.48 146.0 3836 2862 1506 1439 453.4 16.8 226 5139 0.35 2.42 0.00 0.000 5126 0.340 0.050 3775 1818 1471 1503 1439 0 0 0 0 0 0 13.95 14.54 28.83

5457 1.43 146.0 3776 1819 1499 1441 408.7 12.5 237 5463 0.00 2.47 0.00 0.000 260 0.000 0.063 3776 2863 1470 1499 1441 0 0 0 0 0 0 28.83 14.48 28.83

5497 1.36 146.0 3776 2862 1497 1441 403.7 12.6 238 5503 0.22 2.42 0.00 0.000 5126 0.330 0.050 3738 1815 1469 1497 1441 0 0 0 0 0 0 13.90 14.50 28.83

5829 1.33 146.0 3738 1816 1496 1441 364.2 12.1 249 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 3738 1816 1468 1496 1441 0 0 0 0 0 0 28.83 28.83 28.83

6129 1.30 146.0 3739 1816 1496 1441 324.9 13.4 259 6135 0.00 2.50 0.00 0.000 260 0.000 0.062 3739 2868 1468 1495 1441 0 0 0 0 0 0 28.83 14.42 28.83

6165 1.27 146.0 3739 2867 1495 1441 319.6 13.7 260 6171 0.17 2.45 0.00 0.000 5126 0.325 0.050 3707 1816 1467 1494 1441 0 0 0 0 0 0 13.88 14.45 28.83

6501 1.27 146.0 3707 1818 1494 1442 275.9 12.8 271 6502 0.00 0.00 0.00 0.000 6 0.000 0.000 3707 1818 1467 1494 1441 0 0 0 0 0 0 28.83 28.83 28.83

6801 1.27 146.0 3707 1818 1493 1441 240.2 11.3 283 6807 0.00 2.50 0.00 0.000 516 0.000 0.067 3712 744 1467 1494 1441 0 0 0 0 0 0 28.83 14.28 28.83

6840 1.27 146.0 3713 744 1493 1441 236.1 11.6 285 6846 0.00 2.45 0.00 0.000 1030 0.000 0.041 3713 1824 1468 1495 1441 0 0 0 0 0 0 28.83 14.45 28.83

7156 1.27 146.0 3712 1823 1493 1440 201.9 10.5 306 7161 0.00 2.42 0.00 0.000 260 0.000 0.066 3708 2856 1466 1493 1440 0 0 0 0 0 0 28.83 14.33 28.83

7274 1.23 146.0 3712 2855 1491 1440 188.7 12.2 313 7280 0.00 2.42 0.00 0.000 1030 0.000 0.050 3713 1822 1465 1491 1440 0 0 0 0 0 0 28.83 14.35 28.83

7591 1.23 146.0 3713 1824 1491 1440 151.8 11.3 334 7592 0.00 0.00 0.00 0.000 6 0.000 0.000 3713 1823 1465 1491 1440 0 0 0 0 0 0 28.83 28.83 28.83

7889 1.23 146.0 3713 1823 1491 1440 118.0 11.1 354 7894 0.00 2.47 0.00 0.000 260 0.000 0.061 3713 2857 1465 1491 1440 0 0 0 0 0 0 28.83 14.31 28.83

8126 1.21 146.0 3008 2853 1456 1436 92.2 10.4 369 8132 0.00 2.40 0.00 0.000 1030 0.000 0.048 3714 1826 1464 1488 1440 0 0 0 0 0 0 28.83 14.33 28.83

8442 1.21 146.0 3714 1827 1489 1440 63.7 9.7 390 8447 0.00 2.45 0.00 0.000 260 0.000 0.060 3714 2856 1464 1489 1440 0 0 0 0 0 0 28.83 14.07 28.83

8600 1.20 146.0 3714 2855 1490 1440 49.1 8.9 400 8607 0.15 2.40 0.00 0.000 5126 0.304 0.048 3685 1834 1464 1488 1440 0 0 0 0 0 0 13.81 14.33 28.83

8922 1.23 146.0 3686 1835 1488 1440 23.9 8.3 421 8923 0.00 0.00 0.00 0.000 6 0.000 0.000 3686 1835 1464 1488 1440 0 0 0 0 0 0 28.83 28.83 28.83

9222 1.54 229.7 3686 1835 1491 1436 3.5 1.6 441 9236 0.35 0.00 10.48 0.070 10242 0.119 0.000 3796 1835 1380 1411 1349 0 0 0 0 0 0 14.20 28.83 28.83

9237 end climb: SURFACE_DEPTH_REACHED

state 9237 begin surface coast

9390 end surface coast: NO_VERTICAL_VELOCITY

state 9390 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	574	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	INT_PRESSURE_YINT	1
D_TGT	540	SM_CC	465.08878	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_ABORT	600	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	2086	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	240	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	270	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	4	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	-114735.83	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	150	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	40	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	0.00269	ROLL_MAX	3200	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
HD_B	0.031300001	ROLL_DEG	30	ALTIM_PING_DEPTH	0
HD_C	1.8999999e-05	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	1800	ALTIM_FREQUENCY	13

GPS1	200813,030803,2448.935,-3731.652,0,10000.0,0,-14.9	TGT_NAME	CTR
_CALLS	4	TGT_LATLONG	2434.000,-3802.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200813,030803,2448.935,-3731.652,241,99.0,241,-14.9	MHEAD_RNG_PITCHd_Wd	211.5,58120,-30.8,-7.500,-40.00,1453
SPEED_LIMITS	0.089,0.128	D_GRID	540

FINISH	3.3,1.025020	_10V_AH	13.3,0.000
SM_CCo	9395,152.57,0.072,0,0,189,465.09	FG_AHR_24Vo	0.000
SM_GC	3.74,10.73,0.28,0.00,0.047,0.056,0.000,144,1954,190,-9.77,-0.79,465.09,0,0,0,0,0,0,14.54,14.56,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2446.56,-3733.54,200813,070724	MEM	344768
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16747,452
HUMID	80.79	CAP_FILE_SIZE	126407,0
INTERNAL_PRESSURE	9.50619	CFSIZE	260034560,179552256
TCM_TEMP	23.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	4.258, 45.1,1
SC_FREEKB	3800192	GPS	200813,075324,2446.559,-3733.536,0,10000.0,0,-14.9
_24V_AH	13.3,210.298

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	373	144.86	nil	0	0	0.00
Roll_motor	76	83	84.67	nil	0	0	0.00
VBD_pump_during_apogee	247	1553	5119.61	nil	0	0	0.00
VBD_pump_during_surface	152	71	145.92	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	9418	5	649.47
Iridium_during_xfer	863	228	2627.60	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	243	21	70.36
TT8	1779	9	218.16
LPSleep	5978	2	174.13
TT8_Active	501	9	61.46
TT8_Sampling	2417	27	898.38
TT8_CF8	1137	32	490.52
TT8_Kalman	0	0	0.00
Analog_circuits	2093	17	473.25
GPS_charging	0	0	0.00
Compass	1356	5	90.20
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	-1.61	-72.9	134	1944	219	165	0.0	0.0	0	116	0.00	0.00	-90.57	0.000	16390	0.000	0.000	135	1945	2384	2352	2417	0	0	0	0	0	0	28.83	28.83	14.83
122	-1.68	-146.0	134	1945	2353	2417	3.6	-1.7	6	148	13.20	2.47	-6.80	0.000	18948	0.373	0.083	2748	891	2682	2688	2676	0	0	0	0	0	0	13.97	14.52	14.85
384	-1.59	-146.0	2748	891	2689	2675	51.9	-18.8	22	392	0.17	2.50	0.00	0.000	3078	0.321	0.065	2780	1949	2682	2689	2675	0	0	0	0	0	0	13.90	14.38	28.83
688	-1.52	-146.0	2780	1947	2689	2675	103.8	-15.7	43	693	0.00	2.50	0.00	0.000	516	0.000	0.067	2780	887	2681	2689	2674	0	0	0	0	0	0	28.83	14.40	28.83
927	-1.45	-146.0	2781	887	2689	2674	137.0	-13.8	58	933	0.25	2.42	0.00	0.000	3078	0.299	0.063	2826	1921	2681	2689	2673	0	0	0	0	0	0	13.88	14.40	28.83
1244	-1.42	-146.0	2825	1919	2689	2673	173.4	-10.7	79	1249	0.00	2.45	0.00	0.000	516	0.000	0.067	2826	891	2681	2690	2672	0	0	0	0	0	0	28.83	14.26	28.83
1420	-1.38	-146.0	1760	890	2627	2664	191.9	-10.8	90	1426	0.15	2.35	0.00	0.000	3078	0.289	0.059	2847	1902	2680	2689	2672	0	0	0	0	0	0	14.00	14.42	28.83
1736	-1.38	-146.0	2847	1901	2689	2672	228.4	-12.4	111	1741	0.00	2.38	0.00	0.000	516	0.000	0.063	2847	889	2680	2689	2672	0	0	0	0	0	0	28.83	14.40	28.83
1803	-1.36	-146.0	2847	889	2689	2672	236.8	-12.8	115	1808	0.00	2.35	0.00	0.000	1030	0.000	0.056	2847	1897	2680	2689	2671	0	0	0	0	0	0	28.83	14.33	28.83
2126	-1.36	-146.0	2843	1896	2689	2671	278.6	-12.9	129	2131	0.00	2.35	0.00	0.000	516	0.000	0.060	2847	889	2679	2689	2670	0	0	0	0	0	0	28.83	14.42	28.83
2353	-1.34	-146.0	2847	889	2689	2669	306.3	-12.4	136	2358	0.00	2.28	0.00	0.000	1030	0.000	0.054	2846	1872	2678	2689	2668	0	0	0	0	0	0	28.83	14.36	28.83
2683	-1.34	-146.0	2846	1871	2691	2667	345.4	-11.6	147	2688	0.00	2.30	0.00	0.000	516	0.000	0.060	2846	885	2677	2689	2666	0	0	0	0	0	0	28.83	14.33	28.83
2815	-1.33	-146.0	2846	886	2689	2666	360.0	-11.3	151	2821	0.00	2.25	0.00	0.000	1030	0.000	0.052	2844	1859	2677	2689	2666	0	0	0	0	0	0	28.83	14.41	28.83
3150	-1.33	-146.0	2844	1858	2688	2664	397.7	-11.3	162	3155	0.00	2.28	0.00	0.000	516	0.000	0.060	2844	884	2676	2689	2663	0	0	0	0	0	0	28.83	14.39	28.83
3387	-1.31	-146.0	2844	884	2689	2661	424.2	-12.3	169	3393	0.00	2.22	0.00	0.000	1030	0.000	0.051	2844	1849	2675	2689	2661	0	0	0	0	0	0	28.83	14.42	28.83
3703	-1.31	-146.0	2847	1848	2689	2659	466.0	-12.5	180	3708	0.00	2.25	0.00	0.000	516	0.000	0.059	2844	886	2674	2689	2659	0	0	0	0	0	0	28.83	14.29	28.83
3890	-1.31	-146.0	2843	886	2689	2658	489.4	-12.4	186	3896	0.00	2.17	0.00	0.000	1030	0.000	0.050	2844	1827	2673	2689	2658	0	0	0	0	0	0	28.83	14.40	28.83
4230	-1.31	-146.0	2844	1826	2688	2655	530.1	-12.3	197	4235	0.00	2.17	0.00	0.000	516	0.000	0.058	2844	888	2672	2689	2655	0	0	0	0	0	0	28.83	14.38	28.83
4314	-1.31	-146.0	2844	888	2689	2654	538.8	-12.4	199	4320	0.00	2.12	0.00	0.000	1030	0.000	0.049	2843	1813	2671	2689	2654	0	0	0	0	0	0	28.83	14.38	28.83
4324	end dive: TARGET_DEPTH_EXCEEDED
state	4324	begin apogee
4333	-0.25	0.0	2843	1813	2689	2654	542.9	-12.4	200	4461	1.48	0.00	118.10	1.554	10244	0.238	0.000	3207	1812	2085	2141	2030	0	0	0	0	0	0	13.71	28.83	13.31
4463	end apogee: CONTROL_FINISHED_OK
state	4463	begin climb
4467	1.68	146.0	3208	1811	2135	2025	547.9	0.0	204	4600	1.95	0.00	119.18	1.540	11270	0.103	0.000	3836	1812	1484	1526	1443	0	0	0	0	0	0	14.29	28.83	13.38
4901	1.59	146.0	3836	1812	1511	1440	489.5	15.7	219	4907	0.00	2.45	0.00	0.000	260	0.000	0.067	3836	2862	1475	1510	1440	0	0	0	0	0	0	28.83	14.44	28.83
5133	1.48	146.0	3836	2862	1506	1439	453.4	16.8	226	5139	0.35	2.42	0.00	0.000	5126	0.340	0.050	3775	1818	1471	1503	1439	0	0	0	0	0	0	13.95	14.54	28.83
5457	1.43	146.0	3776	1819	1499	1441	408.7	12.5	237	5463	0.00	2.47	0.00	0.000	260	0.000	0.063	3776	2863	1470	1499	1441	0	0	0	0	0	0	28.83	14.48	28.83
5497	1.36	146.0	3776	2862	1497	1441	403.7	12.6	238	5503	0.22	2.42	0.00	0.000	5126	0.330	0.050	3738	1815	1469	1497	1441	0	0	0	0	0	0	13.90	14.50	28.83
5829	1.33	146.0	3738	1816	1496	1441	364.2	12.1	249	5830	0.00	0.00	0.00	0.000	6	0.000	0.000	3738	1816	1468	1496	1441	0	0	0	0	0	0	28.83	28.83	28.83
6129	1.30	146.0	3739	1816	1496	1441	324.9	13.4	259	6135	0.00	2.50	0.00	0.000	260	0.000	0.062	3739	2868	1468	1495	1441	0	0	0	0	0	0	28.83	14.42	28.83
6165	1.27	146.0	3739	2867	1495	1441	319.6	13.7	260	6171	0.17	2.45	0.00	0.000	5126	0.325	0.050	3707	1816	1467	1494	1441	0	0	0	0	0	0	13.88	14.45	28.83
6501	1.27	146.0	3707	1818	1494	1442	275.9	12.8	271	6502	0.00	0.00	0.00	0.000	6	0.000	0.000	3707	1818	1467	1494	1441	0	0	0	0	0	0	28.83	28.83	28.83
6801	1.27	146.0	3707	1818	1493	1441	240.2	11.3	283	6807	0.00	2.50	0.00	0.000	516	0.000	0.067	3712	744	1467	1494	1441	0	0	0	0	0	0	28.83	14.28	28.83
6840	1.27	146.0	3713	744	1493	1441	236.1	11.6	285	6846	0.00	2.45	0.00	0.000	1030	0.000	0.041	3713	1824	1468	1495	1441	0	0	0	0	0	0	28.83	14.45	28.83
7156	1.27	146.0	3712	1823	1493	1440	201.9	10.5	306	7161	0.00	2.42	0.00	0.000	260	0.000	0.066	3708	2856	1466	1493	1440	0	0	0	0	0	0	28.83	14.33	28.83
7274	1.23	146.0	3712	2855	1491	1440	188.7	12.2	313	7280	0.00	2.42	0.00	0.000	1030	0.000	0.050	3713	1822	1465	1491	1440	0	0	0	0	0	0	28.83	14.35	28.83
7591	1.23	146.0	3713	1824	1491	1440	151.8	11.3	334	7592	0.00	0.00	0.00	0.000	6	0.000	0.000	3713	1823	1465	1491	1440	0	0	0	0	0	0	28.83	28.83	28.83
7889	1.23	146.0	3713	1823	1491	1440	118.0	11.1	354	7894	0.00	2.47	0.00	0.000	260	0.000	0.061	3713	2857	1465	1491	1440	0	0	0	0	0	0	28.83	14.31	28.83
8126	1.21	146.0	3008	2853	1456	1436	92.2	10.4	369	8132	0.00	2.40	0.00	0.000	1030	0.000	0.048	3714	1826	1464	1488	1440	0	0	0	0	0	0	28.83	14.33	28.83
8442	1.21	146.0	3714	1827	1489	1440	63.7	9.7	390	8447	0.00	2.45	0.00	0.000	260	0.000	0.060	3714	2856	1464	1489	1440	0	0	0	0	0	0	28.83	14.07	28.83
8600	1.20	146.0	3714	2855	1490	1440	49.1	8.9	400	8607	0.15	2.40	0.00	0.000	5126	0.304	0.048	3685	1834	1464	1488	1440	0	0	0	0	0	0	13.81	14.33	28.83
8922	1.23	146.0	3686	1835	1488	1440	23.9	8.3	421	8923	0.00	0.00	0.00	0.000	6	0.000	0.000	3686	1835	1464	1488	1440	0	0	0	0	0	0	28.83	28.83	28.83
9222	1.54	229.7	3686	1835	1491	1436	3.5	1.6	441	9236	0.35	0.00	10.48	0.070	10242	0.119	0.000	3796	1835	1380	1411	1349	0	0	0	0	0	0	14.20	28.83	28.83
9237	end climb: SURFACE_DEPTH_REACHED
state	9237	begin surface coast
9390	end surface coast: NO_VERTICAL_VELOCITY
state	9390	begin surface