Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 576 * 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 576 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 64 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 64 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 -115717.21 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 -115717.21

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 64 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 64 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 576 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 200813,111716,2448.935,-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 2.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200813,111716,2448.935,-3731.652,241,99.0,241,-14.9 MHEAD_RNG_PITCHd_Wd 301.5,58120,-30.8,-7.500,-40.00,1453

SPEED_LIMITS 0.089,0.128 D_GRID 540

Post-dive calculations and measurements:

FREEZE 3.38,26.328,-1.051,0,99,0 _10V_AH 13.4,0.000

SM_CCo 9349,162.20,0.070,0,0,188,465.09 FG_AHR_24Vo 0.000

SM_GC 3.81,10.35,0.15,0.00,0.041,0.092,0.000,136,1960,189,-9.79,-0.71,465.33,0,0,0,0,0,0,14.54,14.55,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2448.93,-3731.65,200813,111116 MEM 345080

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16786,448

HUMID 82.28 CAP_FILE_SIZE 120413,0

INTERNAL_PRESSURE 9.51595 CFSIZE 260034560,179347456

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.081,255.2,1

SC_FREEKB 3799424 GPS 200813,111716,2448.935,-3731.652,241,99.0,241,-14.9

_24V_AH 13.3,210.662

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 371 139.77 nil 0 0 0.00

Roll_motor 83 109 122.00 nil 0 0 0.00

VBD_pump_during_apogee 238 1542 4886.42 nil 0 0 0.00

VBD_pump_during_surface 162 70 151.83 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 9365 5 646.31

Iridium_during_xfer 244 165 537.83 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 246 21 71.77

TT8 1875 9 231.74

LPSleep 5710 2 167.57

TT8_Active 518 9 64.00

TT8_Sampling 1994 27 746.85

TT8_CF8 1058 32 459.82

TT8_Kalman 0 0 0.00

Analog_circuits 1539 17 350.63

GPS_charging 0 0 0.00

Compass 1461 5 97.91

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

23 -1.61 -72.9 141 1991 217 167 0.0 0.0 0 116 0.00 0.00 -90.45 0.000 16390 0.000 0.000 141 1991 2383 2356 2411 0 0 0 0 0 0 28.83 28.83 14.81

123 -1.68 -146.0 141 1992 2357 2411 3.6 -1.6 6 154 13.12 2.35 -6.80 0.000 18692 0.371 0.109 2746 2957 2683 2694 2672 0 0 0 0 0 0 14.02 14.34 14.85

344 -1.58 -146.0 2746 2956 2695 2672 47.0 -19.3 20 350 0.17 2.22 0.00 0.000 3078 0.319 0.050 2778 1992 2683 2695 2672 0 0 0 0 0 0 13.83 14.40 28.83

666 -1.51 -146.0 2779 1993 2695 2672 100.6 -15.8 41 673 0.12 2.35 0.00 0.000 2308 0.315 0.080 2802 2964 2683 2695 2671 0 0 0 0 0 0 13.97 14.28 28.83

857 -1.45 -146.0 2802 2963 2695 2671 130.1 -15.4 53 863 0.00 2.40 0.00 0.000 1030 0.000 0.050 2802 1932 2683 2696 2671 0 0 0 0 0 0 28.83 14.38 28.83

1178 -1.41 -146.0 2802 1933 2695 2671 174.1 -12.2 74 1184 0.12 2.42 0.00 0.000 2564 0.308 0.071 2837 889 2682 2695 2670 0 0 0 0 0 0 14.00 14.38 28.83

1405 -1.38 -146.0 2837 889 2695 2670 199.0 -11.1 88 1412 0.00 2.22 0.00 0.000 1030 0.000 0.054 2832 1862 2682 2695 2669 0 0 0 0 0 0 28.83 14.40 28.83

1711 -1.35 -146.0 2832 1861 2695 2669 234.0 -11.7 109 1718 0.00 2.25 0.00 0.000 516 0.000 0.063 2835 888 2682 2696 2669 0 0 0 0 0 0 28.83 14.38 28.83

1869 -1.32 -146.0 2835 888 2695 2669 253.2 -12.4 119 1875 0.15 2.22 0.00 0.000 3078 0.288 0.054 2861 1855 2681 2695 2668 0 0 0 0 0 0 13.95 14.40 28.83

2208 -1.32 -146.0 2861 1854 2695 2667 293.9 -12.4 130 2213 0.00 2.25 0.00 0.000 516 0.000 0.063 2862 884 2681 2695 2667 0 0 0 0 0 0 28.83 14.38 28.83

2399 -1.32 -146.0 2861 884 2695 2666 317.9 -12.6 136 2404 0.00 2.20 0.00 0.000 1030 0.000 0.054 2860 1847 2680 2695 2665 0 0 0 0 0 0 28.83 14.39 28.83

2733 -1.32 -146.0 2860 1845 2695 2664 360.3 -12.8 147 2738 0.00 2.22 0.00 0.000 516 0.000 0.060 2861 886 2680 2696 2664 0 0 0 0 0 0 28.83 14.37 28.83

2968 -1.32 -146.0 2867 887 2696 2662 388.7 -13.1 154 2974 0.00 2.15 0.00 0.000 1030 0.000 0.052 2860 1827 2678 2695 2661 0 0 0 0 0 0 28.83 14.39 28.83

3284 -1.32 -146.0 2861 1825 2695 2659 433.4 -13.4 165 3291 0.00 2.17 0.00 0.000 516 0.000 0.060 2860 887 2677 2695 2659 0 0 0 0 0 0 28.83 14.36 28.83

3452 -1.32 -146.0 2860 887 2695 2659 454.2 -12.9 170 3458 0.00 2.10 0.00 0.000 1030 0.000 0.051 2860 1807 2676 2695 2658 0 0 0 0 0 0 28.83 14.32 28.83

3781 -1.32 -146.0 2860 1806 2689 2655 492.8 -10.9 181 3786 0.00 2.12 0.00 0.000 516 0.000 0.059 2860 887 2675 2695 2655 0 0 0 0 0 0 28.83 14.35 28.83

4017 -1.32 -146.0 2860 886 2695 2654 516.6 -10.7 188 4023 0.00 2.08 0.00 0.000 1030 0.000 0.050 2860 1796 2674 2694 2654 0 0 0 0 0 0 28.83 14.38 28.83

4239 end dive: TARGET_DEPTH_EXCEEDED

state 4239 begin apogee

4249 -0.25 0.0 2860 1795 2694 2652 542.8 -10.8 196 4378 1.40 0.00 119.53 1.542 10244 0.236 0.000 3206 1795 2082 2140 2025 0 0 0 0 0 0 13.66 28.83 13.28

4379 end apogee: CONTROL_FINISHED_OK

state 4379 begin climb

4383 1.68 146.0 3206 1795 2136 2023 547.7 0.0 200 4516 1.95 2.45 118.70 1.532 10500 0.099 0.071 3829 2814 1487 1512 1462 0 0 0 0 0 0 14.29 14.33 13.37

4659 1.58 146.0 3829 2814 1495 1458 516.0 16.4 209 4666 0.15 2.35 0.00 0.000 5126 0.327 0.050 3809 1793 1474 1491 1458 0 0 0 0 0 0 14.11 14.50 28.83

4986 1.51 146.0 3808 1794 1487 1458 467.7 14.1 220 4992 0.12 2.42 0.00 0.000 4356 0.324 0.058 3781 2824 1472 1487 1458 0 0 0 0 0 0 14.07 14.51 28.83

5170 1.43 146.0 3781 2824 1484 1457 443.8 14.6 225 5178 0.17 2.35 0.00 0.000 5126 0.320 0.048 3756 1808 1471 1484 1458 0 0 0 0 0 0 14.00 14.52 28.83

5477 1.38 146.0 3756 1808 1484 1457 401.2 12.4 236 5483 0.00 2.40 0.00 0.000 260 0.000 0.060 3756 2819 1470 1483 1457 0 0 0 0 0 0 28.83 14.47 28.83

5574 1.33 146.0 3756 2818 1482 1457 388.1 13.2 239 5580 0.17 2.35 0.00 0.000 5126 0.316 0.047 3730 1805 1469 1482 1457 0 0 0 0 0 0 13.88 14.52 28.83

5910 1.31 146.0 3730 1806 1482 1456 346.1 12.6 250 5915 0.00 2.40 0.00 0.000 260 0.000 0.060 3730 2816 1469 1482 1456 0 0 0 0 0 0 28.83 14.44 28.83

6034 1.27 146.0 3730 2816 1481 1456 333.2 13.3 253 6041 0.15 2.30 0.00 0.000 5126 0.304 0.044 3709 1819 1468 1481 1456 0 0 0 0 0 0 13.88 14.48 28.83

6339 1.27 146.0 3709 1820 1481 1455 292.4 12.2 264 6344 0.00 2.38 0.00 0.000 260 0.000 0.059 3709 2816 1468 1481 1455 0 0 0 0 0 0 28.83 14.40 28.83

6472 1.24 146.0 3709 2816 1481 1455 276.1 12.7 268 6477 0.00 2.28 0.00 0.000 1030 0.000 0.045 3713 1835 1468 1481 1455 0 0 0 0 0 0 28.83 14.44 28.83

6791 1.24 146.0 3712 1836 1481 1455 241.8 10.1 281 6796 0.00 2.55 0.00 0.000 516 0.000 0.067 3713 742 1468 1481 1455 0 0 0 0 0 0 28.83 14.33 28.83

6819 1.24 146.0 3711 742 1480 1455 239.1 10.4 282 6827 0.00 2.38 0.00 0.000 1030 0.000 0.040 3709 1798 1467 1481 1454 0 0 0 0 0 0 28.83 14.45 28.83

7127 1.24 146.0 3708 1797 1481 1454 207.3 10.2 303 7133 0.00 2.50 0.00 0.000 260 0.000 0.064 3712 2857 1466 1480 1453 0 0 0 0 0 0 28.83 14.33 28.83

7364 1.22 146.0 3713 2857 1479 1453 179.2 12.9 318 7370 0.00 2.35 0.00 0.000 1030 0.000 0.047 3713 1846 1466 1480 1453 0 0 0 0 0 0 28.83 14.27 28.83

7680 1.22 146.0 3713 1847 1479 1451 141.7 11.1 339 7685 0.00 2.42 0.00 0.000 260 0.000 0.060 3713 2863 1466 1480 1453 0 0 0 0 0 0 28.83 14.31 28.83

7861 1.19 146.0 3713 2863 1479 1453 119.4 13.4 350 7870 0.15 2.33 0.00 0.000 5126 0.306 0.047 3685 1865 1466 1479 1453 0 0 0 0 0 0 13.83 14.34 28.83

8168 1.21 146.0 3685 1862 1479 1453 87.1 9.0 371 8174 0.00 2.62 0.00 0.000 516 0.000 0.067 3686 746 1465 1479 1452 0 0 0 0 0 0 28.83 14.28 28.83

8188 1.23 146.0 3686 746 1479 1453 85.0 9.4 372 8195 0.00 2.58 0.00 0.000 1030 0.000 0.042 3686 1873 1466 1479 1453 0 0 0 0 0 0 28.83 14.37 28.83

8510 1.26 146.0 3686 1872 1479 1453 59.7 7.5 393 8515 0.00 2.30 0.00 0.000 260 0.000 0.063 3686 2857 1465 1479 1452 0 0 0 0 0 0 28.83 14.28 28.83

8747 1.26 146.0 3686 2856 1479 1452 39.3 8.9 408 8752 0.00 2.25 0.00 0.000 1030 0.000 0.043 3686 1893 1465 1479 1452 0 0 0 0 0 0 28.83 14.34 28.83

9064 1.29 146.0 3686 1894 1479 1452 12.3 8.7 429 9065 0.00 0.00 0.00 0.000 6 0.000 0.000 3686 1895 1465 1479 1452 0 0 0 0 0 0 28.83 28.83 28.83

9344 end climb: NO_VERTICAL_VELOCITY

state 9344 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	576	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	64	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	64	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	-115717.21	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	200813,111716,2448.935,-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	2.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200813,111716,2448.935,-3731.652,241,99.0,241,-14.9	MHEAD_RNG_PITCHd_Wd	301.5,58120,-30.8,-7.500,-40.00,1453
SPEED_LIMITS	0.089,0.128	D_GRID	540

FREEZE	3.38,26.328,-1.051,0,99,0	_10V_AH	13.4,0.000
SM_CCo	9349,162.20,0.070,0,0,188,465.09	FG_AHR_24Vo	0.000
SM_GC	3.81,10.35,0.15,0.00,0.041,0.092,0.000,136,1960,189,-9.79,-0.71,465.33,0,0,0,0,0,0,14.54,14.55,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2448.93,-3731.65,200813,111116	MEM	345080
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16786,448
HUMID	82.28	CAP_FILE_SIZE	120413,0
INTERNAL_PRESSURE	9.51595	CFSIZE	260034560,179347456
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.081,255.2,1
SC_FREEKB	3799424	GPS	200813,111716,2448.935,-3731.652,241,99.0,241,-14.9
_24V_AH	13.3,210.662

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	371	139.77	nil	0	0	0.00
Roll_motor	83	109	122.00	nil	0	0	0.00
VBD_pump_during_apogee	238	1542	4886.42	nil	0	0	0.00
VBD_pump_during_surface	162	70	151.83	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	9365	5	646.31
Iridium_during_xfer	244	165	537.83	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	246	21	71.77
TT8	1875	9	231.74
LPSleep	5710	2	167.57
TT8_Active	518	9	64.00
TT8_Sampling	1994	27	746.85
TT8_CF8	1058	32	459.82
TT8_Kalman	0	0	0.00
Analog_circuits	1539	17	350.63
GPS_charging	0	0	0.00
Compass	1461	5	97.91
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
23	-1.61	-72.9	141	1991	217	167	0.0	0.0	0	116	0.00	0.00	-90.45	0.000	16390	0.000	0.000	141	1991	2383	2356	2411	0	0	0	0	0	0	28.83	28.83	14.81
123	-1.68	-146.0	141	1992	2357	2411	3.6	-1.6	6	154	13.12	2.35	-6.80	0.000	18692	0.371	0.109	2746	2957	2683	2694	2672	0	0	0	0	0	0	14.02	14.34	14.85
344	-1.58	-146.0	2746	2956	2695	2672	47.0	-19.3	20	350	0.17	2.22	0.00	0.000	3078	0.319	0.050	2778	1992	2683	2695	2672	0	0	0	0	0	0	13.83	14.40	28.83
666	-1.51	-146.0	2779	1993	2695	2672	100.6	-15.8	41	673	0.12	2.35	0.00	0.000	2308	0.315	0.080	2802	2964	2683	2695	2671	0	0	0	0	0	0	13.97	14.28	28.83
857	-1.45	-146.0	2802	2963	2695	2671	130.1	-15.4	53	863	0.00	2.40	0.00	0.000	1030	0.000	0.050	2802	1932	2683	2696	2671	0	0	0	0	0	0	28.83	14.38	28.83
1178	-1.41	-146.0	2802	1933	2695	2671	174.1	-12.2	74	1184	0.12	2.42	0.00	0.000	2564	0.308	0.071	2837	889	2682	2695	2670	0	0	0	0	0	0	14.00	14.38	28.83
1405	-1.38	-146.0	2837	889	2695	2670	199.0	-11.1	88	1412	0.00	2.22	0.00	0.000	1030	0.000	0.054	2832	1862	2682	2695	2669	0	0	0	0	0	0	28.83	14.40	28.83
1711	-1.35	-146.0	2832	1861	2695	2669	234.0	-11.7	109	1718	0.00	2.25	0.00	0.000	516	0.000	0.063	2835	888	2682	2696	2669	0	0	0	0	0	0	28.83	14.38	28.83
1869	-1.32	-146.0	2835	888	2695	2669	253.2	-12.4	119	1875	0.15	2.22	0.00	0.000	3078	0.288	0.054	2861	1855	2681	2695	2668	0	0	0	0	0	0	13.95	14.40	28.83
2208	-1.32	-146.0	2861	1854	2695	2667	293.9	-12.4	130	2213	0.00	2.25	0.00	0.000	516	0.000	0.063	2862	884	2681	2695	2667	0	0	0	0	0	0	28.83	14.38	28.83
2399	-1.32	-146.0	2861	884	2695	2666	317.9	-12.6	136	2404	0.00	2.20	0.00	0.000	1030	0.000	0.054	2860	1847	2680	2695	2665	0	0	0	0	0	0	28.83	14.39	28.83
2733	-1.32	-146.0	2860	1845	2695	2664	360.3	-12.8	147	2738	0.00	2.22	0.00	0.000	516	0.000	0.060	2861	886	2680	2696	2664	0	0	0	0	0	0	28.83	14.37	28.83
2968	-1.32	-146.0	2867	887	2696	2662	388.7	-13.1	154	2974	0.00	2.15	0.00	0.000	1030	0.000	0.052	2860	1827	2678	2695	2661	0	0	0	0	0	0	28.83	14.39	28.83
3284	-1.32	-146.0	2861	1825	2695	2659	433.4	-13.4	165	3291	0.00	2.17	0.00	0.000	516	0.000	0.060	2860	887	2677	2695	2659	0	0	0	0	0	0	28.83	14.36	28.83
3452	-1.32	-146.0	2860	887	2695	2659	454.2	-12.9	170	3458	0.00	2.10	0.00	0.000	1030	0.000	0.051	2860	1807	2676	2695	2658	0	0	0	0	0	0	28.83	14.32	28.83
3781	-1.32	-146.0	2860	1806	2689	2655	492.8	-10.9	181	3786	0.00	2.12	0.00	0.000	516	0.000	0.059	2860	887	2675	2695	2655	0	0	0	0	0	0	28.83	14.35	28.83
4017	-1.32	-146.0	2860	886	2695	2654	516.6	-10.7	188	4023	0.00	2.08	0.00	0.000	1030	0.000	0.050	2860	1796	2674	2694	2654	0	0	0	0	0	0	28.83	14.38	28.83
4239	end dive: TARGET_DEPTH_EXCEEDED
state	4239	begin apogee
4249	-0.25	0.0	2860	1795	2694	2652	542.8	-10.8	196	4378	1.40	0.00	119.53	1.542	10244	0.236	0.000	3206	1795	2082	2140	2025	0	0	0	0	0	0	13.66	28.83	13.28
4379	end apogee: CONTROL_FINISHED_OK
state	4379	begin climb
4383	1.68	146.0	3206	1795	2136	2023	547.7	0.0	200	4516	1.95	2.45	118.70	1.532	10500	0.099	0.071	3829	2814	1487	1512	1462	0	0	0	0	0	0	14.29	14.33	13.37
4659	1.58	146.0	3829	2814	1495	1458	516.0	16.4	209	4666	0.15	2.35	0.00	0.000	5126	0.327	0.050	3809	1793	1474	1491	1458	0	0	0	0	0	0	14.11	14.50	28.83
4986	1.51	146.0	3808	1794	1487	1458	467.7	14.1	220	4992	0.12	2.42	0.00	0.000	4356	0.324	0.058	3781	2824	1472	1487	1458	0	0	0	0	0	0	14.07	14.51	28.83
5170	1.43	146.0	3781	2824	1484	1457	443.8	14.6	225	5178	0.17	2.35	0.00	0.000	5126	0.320	0.048	3756	1808	1471	1484	1458	0	0	0	0	0	0	14.00	14.52	28.83
5477	1.38	146.0	3756	1808	1484	1457	401.2	12.4	236	5483	0.00	2.40	0.00	0.000	260	0.000	0.060	3756	2819	1470	1483	1457	0	0	0	0	0	0	28.83	14.47	28.83
5574	1.33	146.0	3756	2818	1482	1457	388.1	13.2	239	5580	0.17	2.35	0.00	0.000	5126	0.316	0.047	3730	1805	1469	1482	1457	0	0	0	0	0	0	13.88	14.52	28.83
5910	1.31	146.0	3730	1806	1482	1456	346.1	12.6	250	5915	0.00	2.40	0.00	0.000	260	0.000	0.060	3730	2816	1469	1482	1456	0	0	0	0	0	0	28.83	14.44	28.83
6034	1.27	146.0	3730	2816	1481	1456	333.2	13.3	253	6041	0.15	2.30	0.00	0.000	5126	0.304	0.044	3709	1819	1468	1481	1456	0	0	0	0	0	0	13.88	14.48	28.83
6339	1.27	146.0	3709	1820	1481	1455	292.4	12.2	264	6344	0.00	2.38	0.00	0.000	260	0.000	0.059	3709	2816	1468	1481	1455	0	0	0	0	0	0	28.83	14.40	28.83
6472	1.24	146.0	3709	2816	1481	1455	276.1	12.7	268	6477	0.00	2.28	0.00	0.000	1030	0.000	0.045	3713	1835	1468	1481	1455	0	0	0	0	0	0	28.83	14.44	28.83
6791	1.24	146.0	3712	1836	1481	1455	241.8	10.1	281	6796	0.00	2.55	0.00	0.000	516	0.000	0.067	3713	742	1468	1481	1455	0	0	0	0	0	0	28.83	14.33	28.83
6819	1.24	146.0	3711	742	1480	1455	239.1	10.4	282	6827	0.00	2.38	0.00	0.000	1030	0.000	0.040	3709	1798	1467	1481	1454	0	0	0	0	0	0	28.83	14.45	28.83
7127	1.24	146.0	3708	1797	1481	1454	207.3	10.2	303	7133	0.00	2.50	0.00	0.000	260	0.000	0.064	3712	2857	1466	1480	1453	0	0	0	0	0	0	28.83	14.33	28.83
7364	1.22	146.0	3713	2857	1479	1453	179.2	12.9	318	7370	0.00	2.35	0.00	0.000	1030	0.000	0.047	3713	1846	1466	1480	1453	0	0	0	0	0	0	28.83	14.27	28.83
7680	1.22	146.0	3713	1847	1479	1451	141.7	11.1	339	7685	0.00	2.42	0.00	0.000	260	0.000	0.060	3713	2863	1466	1480	1453	0	0	0	0	0	0	28.83	14.31	28.83
7861	1.19	146.0	3713	2863	1479	1453	119.4	13.4	350	7870	0.15	2.33	0.00	0.000	5126	0.306	0.047	3685	1865	1466	1479	1453	0	0	0	0	0	0	13.83	14.34	28.83
8168	1.21	146.0	3685	1862	1479	1453	87.1	9.0	371	8174	0.00	2.62	0.00	0.000	516	0.000	0.067	3686	746	1465	1479	1452	0	0	0	0	0	0	28.83	14.28	28.83
8188	1.23	146.0	3686	746	1479	1453	85.0	9.4	372	8195	0.00	2.58	0.00	0.000	1030	0.000	0.042	3686	1873	1466	1479	1453	0	0	0	0	0	0	28.83	14.37	28.83
8510	1.26	146.0	3686	1872	1479	1453	59.7	7.5	393	8515	0.00	2.30	0.00	0.000	260	0.000	0.063	3686	2857	1465	1479	1452	0	0	0	0	0	0	28.83	14.28	28.83
8747	1.26	146.0	3686	2856	1479	1452	39.3	8.9	408	8752	0.00	2.25	0.00	0.000	1030	0.000	0.043	3686	1893	1465	1479	1452	0	0	0	0	0	0	28.83	14.34	28.83
9064	1.29	146.0	3686	1894	1479	1452	12.3	8.7	429	9065	0.00	0.00	0.00	0.000	6	0.000	0.000	3686	1895	1465	1479	1452	0	0	0	0	0	0	28.83	28.83	28.83
9344	end climb: NO_VERTICAL_VELOCITY
state	9344	begin surface