Glider dive log

SPURS Sep12 * SG190 * Dive index * Mission links * Dive 661 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 HEADING -1 ROLL_DEG 30 ALTIM_FREQUENCY 13

MISSION 6 ESCAPE_HEADING 0 C_ROLL_DIVE 1520 ALTIM_PULSE 3

DIVE 661 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1900 ALTIM_SENSITIVITY 2

N_DIVES 662 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 XPDR_VALID 4

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 6 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 300 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 14 INT_PRESSURE_YINT 0

D_ABORT 320 SM_CC 450 R_STBD_OVSHOOT 17 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 100 FILEMGR 0 ROLL_MAXERRORS 3 MOTHERBOARD 4

T_BOOST 2 CALL_NDIVES 1 ROLL_ADJ_GAIN 1.2 DEVICE1 -1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEVICE2 -1

D_PITCH 0 PROTOCOL 1 VBD_MIN 500 DEVICE3 -1

D_SAFE 0 N_NOCOMM 3 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2694 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 53

T_DIVE 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00060000003 LOGGERDEVICE2 67

T_MISSION 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 10 T_GPS 5 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 48

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -13848.841 AH0_24V 350 RAFOS_DEVICE -1

USE_BATHY 0 T_RSLEEP 3 AH0_10V 0 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 10 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 10 SIM_PITCH 0

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043554804

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00062589208

RELAUNCH 1 PITCH_MIN 147 PHONE_SUPPLY -2 SEABIRD_T_I 2.3694633e-05

APOGEE_PITCH -5 PITCH_MAX 3920 PRESSURE_YINT -57.210079 SEABIRD_T_J 2.5872548e-06

MAX_BUOY 200 C_PITCH 2870 PRESSURE_SLOPE 0.0001167181 SEABIRD_C_G -9.7973194

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1276957

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00090238411

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00014727951

RHO 1.0275 PITCH_GAIN 15 COMPASS_USE 4 SC_RECORDABOVE 2000.0

MASS 55694 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_AD_RATE 165 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 TM_RECORDABOVE 250.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

HD_A 0.003 PITCH_ADJ_DBAND 2 ALTIM_TOP_MIN_OBSTACLE 0 TM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 231 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

HD_C 9.9999997e-06 ROLL_MAX 3841 ALTIM_PING_DELTA 0 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0.0099999998 SPEED_FACTOR 1

AH0_10V 0 D_SAFE 0 PITCH_AD_RATE 165 STROBE 0

AH0_24V 350 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 300 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_GAIN 15 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3920 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MIN 147 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LAT 4736

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_VBD_SHIFT 0.00060000003 TGT_DEFAULT_LON -12218

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001167181 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PRESSURE_YINT -57.210079 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PROTOCOL 1 TM_RECORDABOVE 250.0

APOGEE_PITCH -5 HD_A 0.003 P_OVSHOOT 0.039999999 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_HIT_WINDOW 3600 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_DIVE 100

CAPUPLOAD 0 HEAPDBG 0 RELAUNCH 1 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0275 T_GPS 5

COMM_SEQ 0 ID 190 ROLL_ADJ_DBAND 0.029999999 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 1.2 T_GPS_CHARGE -13848.841

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 2 ROLL_CNV 0.028270001 T_MISSION 120

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_DEG 30 T_NO_W 120

C_PITCH 2870 LOGGERDEVICE2 67 ROLL_MAX 3841 T_RSLEEP 3

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 ROLL_MAXERRORS 3 T_TURN 225

C_ROLL_DIVE 1520 LOGGERDEVICE4 -1 ROLL_MIN 231 T_TURN_SAMPINT 10

C_VBD 2694 LOGGERS 1 ROLL_TIMEOUT 6 T_WATCHDOG 10

DEEPGLIDER 0 MASS 55694 R_PORT_OVSHOOT 14 UNCOM_BLEED 50

DEEPGLIDERMB 0 MAX_BUOY 200 R_STBD_OVSHOOT 17 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 10 SC_PROFILE 3.0 USE_BATHY 0

DEVICE2 -1 MINV_24V 10 SC_RECORDABOVE 2000.0 USE_ICE 0

DEVICE3 -1 MISSION 6 SC_XMITPROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7973194 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 SEABIRD_C_H 1.1276957 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_I -0.00090238411 VBD_MAX 3960

DIVE 661 N_DIVES 662 SEABIRD_C_J 0.00014727951 VBD_MAXERRORS 1

D_ABORT 320 N_FILEKB 4 SEABIRD_T_G 0.0043554804 VBD_MIN 500

D_BOOST 100 N_GPS 20 SEABIRD_T_H 0.00062589208 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_NOCOMM 3 SEABIRD_T_I 2.3694633e-05 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_J 2.5872548e-06 VBD_TIMEOUT 720

D_FLARE 2 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_SUPPLY -2 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_DBAND 2 SM_CC 450 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 290313,030922,2424.663,-3830.541,40,0.8,40,-14.2 TGT_NAME PMEL_E

_CALLS 1 TGT_LATLONG 2430.968,-3748.234

_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 -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290313,031929,2424.603,-3830.553,16,1.0,16,-14.2 MHEAD_RNG_PITCHd_Wd 89.1,72277,-14.9,-10.000,-18.74

SPEED_LIMITS 0.173,0.295 D_GRID 300

Post-dive calculations and measurements:

FINISH 1.7,1.008657 _10V_AH 12.4,0.000

SM_CCo 6875,25.38,0.133,0,0,858,450.13 FG_AHR_24Vo 0.000

SM_GC 2.46,8.90,0.98,25.38,0.058,0.120,0.133,136,1520,858,-8.47,0.45,450.13,0,0,0,0,0,0,14.21,13.93,14.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2415.74,-3829.24,280313,212152 MEM 344732

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 20064,581

HUMID 60.19 CAP_FILE_SIZE 119389,0

INTERNAL_PRESSURE 9.45349 CFSIZE 260034560,165224448

TCM_TEMP 22.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.262,226.0,1

SC_FREEKB 7518080 GPS 290313,051606,2424.162,-3830.592,13,1.4,13,-14.2

_24V_AH 13.5,278.240

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 346 107.49 nil 0 0 0.00

Roll_motor 80 133 144.43 nil 0 0 0.00

VBD_pump_during_apogee 546 1077 7946.55 nil 0 0 0.00

VBD_pump_during_surface 25 133 45.60 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 6875 14 1340.95

Iridium_during_xfer 311 159 668.12 TMICL 0 0 0.00

Transponder_ping 0 420 1.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.58

TT8 1452 10 193.03

LPSleep 3433 2 93.24

TT8_Active 779 9 96.35

TT8_Sampling 1289 28 458.67

TT8_CF8 542 36 243.38

TT8_Kalman 0 0 0.00

Analog_circuits 1673 15 321.66

GPS_charging 0 0 0.00

Compass 977 6 81.68

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 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

23 -1.11 -194.6 0.0 0.0 0 35 0.00 0.00 -10.25 0.000 2 0.000 0.000 144 1525 1248 0 0 0 0 0 0 28.83 28.83 28.83

40 -1.11 -194.6 2.5 0.0 1 167 10.60 1.95 -106.65 0.000 4 0.347 0.119 2498 2585 3486 0 0 0 0 0 0 14.04 14.07 14.52

292 -1.03 -194.6 16.0 -10.8 26 299 0.15 2.08 0.00 0.000 6 0.249 0.111 2531 1524 3488 0 0 0 0 0 0 13.76 13.91 28.83

481 -0.97 -194.6 35.9 -10.5 45 489 0.00 2.15 0.00 0.000 4 0.000 0.132 2532 451 3488 0 0 0 0 0 0 28.83 13.89 28.83

591 -0.89 -194.6 48.0 -11.3 56 599 0.17 1.98 0.00 0.000 6 0.237 0.078 2571 1505 3488 0 0 0 0 0 0 13.57 13.83 28.83

781 -0.89 -194.6 66.1 -8.9 75 788 0.00 2.12 0.00 0.000 4 0.000 0.132 2572 464 3488 0 0 0 0 0 0 28.83 13.84 28.83

842 -0.85 -194.6 71.9 -9.5 81 849 0.00 1.90 0.00 0.000 6 0.000 0.078 2565 1485 3488 0 0 0 0 0 0 28.83 13.90 28.83

1031 -0.85 -194.6 89.3 -8.9 100 1039 0.00 2.10 0.00 0.000 4 0.000 0.131 2565 458 3488 0 0 0 0 0 0 28.83 13.81 28.83

1092 -0.81 -194.6 95.1 -9.7 106 1100 0.12 1.90 0.00 0.000 6 0.198 0.076 2605 1476 3486 0 0 0 0 0 0 13.66 13.90 28.83

1281 -0.81 -194.6 111.6 -9.1 125 1289 0.00 2.08 0.00 0.000 4 0.000 0.129 2605 457 3488 0 0 0 0 0 0 28.83 13.85 28.83

1321 -0.81 -194.6 115.0 -8.7 129 1330 0.00 1.88 0.00 0.000 6 0.000 0.079 2605 1460 3487 0 0 0 0 0 0 28.83 13.88 28.83

1511 -0.81 -194.6 131.1 -8.1 148 1518 0.00 2.05 0.00 0.000 4 0.000 0.131 2605 458 3488 0 0 0 0 0 0 28.83 13.82 28.83

1581 -0.81 -194.6 136.9 -8.6 155 1588 0.00 1.83 0.00 0.000 6 0.000 0.076 2605 1445 3488 0 0 0 0 0 0 28.83 13.88 28.83

1772 -0.81 -194.6 151.6 -7.6 174 1778 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 1445 3488 0 0 0 0 0 0 28.83 28.83 28.83

1962 -0.81 -194.6 167.2 -8.6 193 1969 0.00 1.98 0.00 0.000 4 0.000 0.129 2605 458 3488 0 0 0 0 0 0 28.83 13.88 28.83

2021 -0.81 -194.6 172.5 -8.8 199 2028 0.00 1.77 0.00 0.000 6 0.000 0.075 2605 1419 3488 0 0 0 0 0 0 28.83 13.88 28.83

2212 -0.81 -194.6 189.4 -9.0 218 2218 0.00 1.92 0.00 0.000 4 0.000 0.129 2605 458 3488 0 0 0 0 0 0 28.83 13.88 28.83

2271 -0.81 -194.6 195.1 -9.6 224 2278 0.00 1.73 0.00 0.000 6 0.000 0.074 2605 1395 3488 0 0 0 0 0 0 28.83 13.89 28.83

2461 -0.81 -194.6 212.0 -8.6 243 2469 0.00 1.90 0.00 0.000 4 0.000 0.128 2605 459 3488 0 0 0 0 0 0 28.83 13.79 28.83

2521 -0.81 -194.6 217.5 -9.2 249 2530 0.00 1.67 0.00 0.000 6 0.000 0.073 2605 1372 3488 0 0 0 0 0 0 28.83 13.88 28.83

2712 -0.84 -194.6 234.3 -8.8 268 2718 0.00 2.25 0.00 0.000 4 0.000 0.096 2605 2582 3487 0 0 0 0 0 0 28.83 13.90 28.83

2801 -0.87 -194.6 241.9 -8.4 277 2809 0.00 2.33 0.00 0.000 6 0.000 0.108 2605 1389 3488 0 0 0 0 0 0 28.83 13.90 28.83

2997 -0.90 -194.6 258.3 -8.8 290 3002 0.00 1.85 0.00 0.000 4 0.000 0.129 2605 455 3488 0 0 0 0 0 0 28.83 13.85 28.83

3082 -0.90 -194.6 266.1 -8.8 293 3087 0.00 1.73 0.00 0.000 6 0.000 0.073 2605 1388 3488 0 0 0 0 0 0 28.83 13.86 28.83

3294 -0.92 -194.6 283.9 -8.5 300 3295 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 1388 3488 0 0 0 0 0 0 28.83 28.83 28.83

3473 -0.95 -194.6 298.6 -8.1 306 3475 0.12 0.00 0.00 0.000 6 0.128 0.000 2551 1388 3488 0 0 0 0 0 0 14.32 28.83 28.83

3498 end dive: TARGET_DEPTH_EXCEEDED

state 3498 begin apogee

3509 -0.33 0.0 301.2 -8.2 307 3689 0.73 0.00 174.12 1.073 4 0.192 0.000 2752 1899 2690 0 0 0 0 0 0 13.74 28.83 13.47

3694 end apogee: CONTROL_FINISHED_OK

state 3694 begin climb

3698 1.11 194.6 310.1 0.0 313 3887 1.52 1.98 177.35 1.078 4 0.129 0.106 3226 2963 1900 0 0 0 0 0 0 14.00 14.02 13.48

3977 1.04 194.6 289.8 10.1 322 3984 0.00 2.03 0.00 0.000 6 0.000 0.099 3233 1895 1885 0 0 0 0 0 0 28.83 13.94 28.83

4188 0.98 194.6 268.1 10.2 329 4194 0.20 1.98 0.00 0.000 4 0.265 0.101 3187 2959 1884 0 0 0 0 0 0 13.67 14.00 28.83

4288 0.93 201.5 259.4 9.8 332 4294 0.00 2.03 1.35 0.169 6 0.000 0.103 3195 1888 1870 0 0 0 0 0 0 28.83 14.04 14.07

4482 0.92 240.6 241.4 8.6 344 4529 0.00 2.10 42.08 0.975 4 0.000 0.133 3203 837 1708 0 0 0 0 0 0 28.83 14.31 13.78

4573 0.89 265.9 233.2 9.1 353 4609 0.17 1.98 24.55 0.959 6 0.235 0.081 3160 1903 1604 0 0 0 0 0 0 13.83 14.06 13.72

4789 0.92 306.5 213.5 8.6 375 4837 0.00 1.95 39.40 0.967 4 0.000 0.103 3160 2957 1436 0 0 0 0 0 0 28.83 14.28 13.75

5001 0.96 325.6 193.9 9.3 396 5027 0.00 1.95 18.17 0.933 6 0.000 0.108 3166 1926 1360 0 0 0 0 0 0 28.83 14.04 13.79

5211 0.99 348.4 174.4 9.2 417 5239 0.00 1.95 22.45 0.920 4 0.000 0.106 3166 2964 1268 0 0 0 0 0 0 28.83 14.36 13.83

5312 1.05 365.4 165.3 9.4 427 5337 0.00 1.92 17.17 0.905 6 0.000 0.109 3173 1954 1197 0 0 0 0 0 0 28.83 14.06 13.81

5519 1.10 395.9 146.3 8.9 448 5557 0.15 1.88 29.45 0.904 4 0.112 0.109 3238 2956 1073 0 0 0 0 0 0 14.35 14.32 13.83

5612 1.10 395.9 137.0 10.9 457 5619 0.00 1.85 0.00 0.000 6 0.000 0.099 3245 1970 1067 0 0 0 0 0 0 28.83 14.08 28.83

5798 1.10 395.9 117.7 10.1 476 5807 0.00 2.25 0.00 0.000 4 0.000 0.124 3253 849 1065 0 0 0 0 0 0 28.83 13.98 28.83

5879 1.07 395.9 109.0 10.8 484 5887 0.12 2.10 0.00 0.000 6 0.210 0.085 3217 1965 1065 0 0 0 0 0 0 13.85 14.04 28.83

6068 1.07 395.9 89.2 10.8 503 6076 0.00 1.85 0.00 0.000 4 0.000 0.100 3217 2953 1065 0 0 0 0 0 0 28.83 13.90 28.83

6118 1.07 395.9 83.8 11.2 508 6127 0.00 1.85 0.00 0.000 6 0.000 0.103 3222 1979 1064 0 0 0 0 0 0 28.83 14.00 28.83

6308 1.07 395.9 62.2 11.3 527 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 1980 1064 0 0 0 0 0 0 28.83 28.83 28.83

6498 1.07 395.9 40.8 10.8 546 6499 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 1980 1064 0 0 0 0 0 0 28.83 28.83 28.83

6679 1.07 395.9 20.1 11.9 564 6687 0.00 1.85 0.00 0.000 4 0.000 0.102 3222 2954 1064 0 0 0 0 0 0 28.83 13.97 28.83

6720 1.07 395.9 15.5 11.5 568 6727 0.00 1.83 0.00 0.000 6 0.000 0.102 3227 2003 1064 0 0 0 0 0 0 28.83 14.02 28.83

6824 end climb: SURFACE_DEPTH_REACHED

state 6825 begin surface coast

6850 end surface coast: CONTROL_FINISHED_OK

state 6850 begin surface

ID	190	HEADING	-1	ROLL_DEG	30	ALTIM_FREQUENCY	13
MISSION	6	ESCAPE_HEADING	0	C_ROLL_DIVE	1520	ALTIM_PULSE	3
DIVE	661	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1900	ALTIM_SENSITIVITY	2
N_DIVES	662	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	XPDR_VALID	4
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	6	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	300	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	14	INT_PRESSURE_YINT	0
D_ABORT	320	SM_CC	450	R_STBD_OVSHOOT	17	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	100	FILEMGR	0	ROLL_MAXERRORS	3	MOTHERBOARD	4
T_BOOST	2	CALL_NDIVES	1	ROLL_ADJ_GAIN	1.2	DEVICE1	-1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEVICE2	-1
D_PITCH	0	PROTOCOL	1	VBD_MIN	500	DEVICE3	-1
D_SAFE	0	N_NOCOMM	3	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2694	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	53
T_DIVE	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00060000003	LOGGERDEVICE2	67
T_MISSION	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	10	T_GPS	5	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	48
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-13848.841	AH0_24V	350	RAFOS_DEVICE	-1
USE_BATHY	0	T_RSLEEP	3	AH0_10V	0	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	10	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	10	SIM_PITCH	0
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043554804
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00062589208
RELAUNCH	1	PITCH_MIN	147	PHONE_SUPPLY	-2	SEABIRD_T_I	2.3694633e-05
APOGEE_PITCH	-5	PITCH_MAX	3920	PRESSURE_YINT	-57.210079	SEABIRD_T_J	2.5872548e-06
MAX_BUOY	200	C_PITCH	2870	PRESSURE_SLOPE	0.0001167181	SEABIRD_C_G	-9.7973194
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1276957
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00090238411
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00014727951
RHO	1.0275	PITCH_GAIN	15	COMPASS_USE	4	SC_RECORDABOVE	2000.0
MASS	55694	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_AD_RATE	165	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	TM_RECORDABOVE	250.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
HD_A	0.003	PITCH_ADJ_DBAND	2	ALTIM_TOP_MIN_OBSTACLE	0	TM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	231	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
HD_C	9.9999997e-06	ROLL_MAX	3841	ALTIM_PING_DELTA	0	TM_XMITRAW	0.0

GPS1	290313,030922,2424.663,-3830.541,40,0.8,40,-14.2	TGT_NAME	PMEL_E
_CALLS	1	TGT_LATLONG	2430.968,-3748.234
_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	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290313,031929,2424.603,-3830.553,16,1.0,16,-14.2	MHEAD_RNG_PITCHd_Wd	89.1,72277,-14.9,-10.000,-18.74
SPEED_LIMITS	0.173,0.295	D_GRID	300

FINISH	1.7,1.008657	_10V_AH	12.4,0.000
SM_CCo	6875,25.38,0.133,0,0,858,450.13	FG_AHR_24Vo	0.000
SM_GC	2.46,8.90,0.98,25.38,0.058,0.120,0.133,136,1520,858,-8.47,0.45,450.13,0,0,0,0,0,0,14.21,13.93,14.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2415.74,-3829.24,280313,212152	MEM	344732
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	20064,581
HUMID	60.19	CAP_FILE_SIZE	119389,0
INTERNAL_PRESSURE	9.45349	CFSIZE	260034560,165224448
TCM_TEMP	22.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.262,226.0,1
SC_FREEKB	7518080	GPS	290313,051606,2424.162,-3830.592,13,1.4,13,-14.2
_24V_AH	13.5,278.240

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	346	107.49	nil	0	0	0.00
Roll_motor	80	133	144.43	nil	0	0	0.00
VBD_pump_during_apogee	546	1077	7946.55	nil	0	0	0.00
VBD_pump_during_surface	25	133	45.60	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	6875	14	1340.95
Iridium_during_xfer	311	159	668.12	TMICL	0	0	0.00
Transponder_ping	0	420	1.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.58
TT8	1452	10	193.03
LPSleep	3433	2	93.24
TT8_Active	779	9	96.35
TT8_Sampling	1289	28	458.67
TT8_CF8	542	36	243.38
TT8_Kalman	0	0	0.00
Analog_circuits	1673	15	321.66
GPS_charging	0	0	0.00
Compass	977	6	81.68
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	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	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
23	-1.11	-194.6	0.0	0.0	0	35	0.00	0.00	-10.25	0.000	2	0.000	0.000	144	1525	1248	0	0	0	0	0	0	28.83	28.83	28.83
40	-1.11	-194.6	2.5	0.0	1	167	10.60	1.95	-106.65	0.000	4	0.347	0.119	2498	2585	3486	0	0	0	0	0	0	14.04	14.07	14.52
292	-1.03	-194.6	16.0	-10.8	26	299	0.15	2.08	0.00	0.000	6	0.249	0.111	2531	1524	3488	0	0	0	0	0	0	13.76	13.91	28.83
481	-0.97	-194.6	35.9	-10.5	45	489	0.00	2.15	0.00	0.000	4	0.000	0.132	2532	451	3488	0	0	0	0	0	0	28.83	13.89	28.83
591	-0.89	-194.6	48.0	-11.3	56	599	0.17	1.98	0.00	0.000	6	0.237	0.078	2571	1505	3488	0	0	0	0	0	0	13.57	13.83	28.83
781	-0.89	-194.6	66.1	-8.9	75	788	0.00	2.12	0.00	0.000	4	0.000	0.132	2572	464	3488	0	0	0	0	0	0	28.83	13.84	28.83
842	-0.85	-194.6	71.9	-9.5	81	849	0.00	1.90	0.00	0.000	6	0.000	0.078	2565	1485	3488	0	0	0	0	0	0	28.83	13.90	28.83
1031	-0.85	-194.6	89.3	-8.9	100	1039	0.00	2.10	0.00	0.000	4	0.000	0.131	2565	458	3488	0	0	0	0	0	0	28.83	13.81	28.83
1092	-0.81	-194.6	95.1	-9.7	106	1100	0.12	1.90	0.00	0.000	6	0.198	0.076	2605	1476	3486	0	0	0	0	0	0	13.66	13.90	28.83
1281	-0.81	-194.6	111.6	-9.1	125	1289	0.00	2.08	0.00	0.000	4	0.000	0.129	2605	457	3488	0	0	0	0	0	0	28.83	13.85	28.83
1321	-0.81	-194.6	115.0	-8.7	129	1330	0.00	1.88	0.00	0.000	6	0.000	0.079	2605	1460	3487	0	0	0	0	0	0	28.83	13.88	28.83
1511	-0.81	-194.6	131.1	-8.1	148	1518	0.00	2.05	0.00	0.000	4	0.000	0.131	2605	458	3488	0	0	0	0	0	0	28.83	13.82	28.83
1581	-0.81	-194.6	136.9	-8.6	155	1588	0.00	1.83	0.00	0.000	6	0.000	0.076	2605	1445	3488	0	0	0	0	0	0	28.83	13.88	28.83
1772	-0.81	-194.6	151.6	-7.6	174	1778	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	1445	3488	0	0	0	0	0	0	28.83	28.83	28.83
1962	-0.81	-194.6	167.2	-8.6	193	1969	0.00	1.98	0.00	0.000	4	0.000	0.129	2605	458	3488	0	0	0	0	0	0	28.83	13.88	28.83
2021	-0.81	-194.6	172.5	-8.8	199	2028	0.00	1.77	0.00	0.000	6	0.000	0.075	2605	1419	3488	0	0	0	0	0	0	28.83	13.88	28.83
2212	-0.81	-194.6	189.4	-9.0	218	2218	0.00	1.92	0.00	0.000	4	0.000	0.129	2605	458	3488	0	0	0	0	0	0	28.83	13.88	28.83
2271	-0.81	-194.6	195.1	-9.6	224	2278	0.00	1.73	0.00	0.000	6	0.000	0.074	2605	1395	3488	0	0	0	0	0	0	28.83	13.89	28.83
2461	-0.81	-194.6	212.0	-8.6	243	2469	0.00	1.90	0.00	0.000	4	0.000	0.128	2605	459	3488	0	0	0	0	0	0	28.83	13.79	28.83
2521	-0.81	-194.6	217.5	-9.2	249	2530	0.00	1.67	0.00	0.000	6	0.000	0.073	2605	1372	3488	0	0	0	0	0	0	28.83	13.88	28.83
2712	-0.84	-194.6	234.3	-8.8	268	2718	0.00	2.25	0.00	0.000	4	0.000	0.096	2605	2582	3487	0	0	0	0	0	0	28.83	13.90	28.83
2801	-0.87	-194.6	241.9	-8.4	277	2809	0.00	2.33	0.00	0.000	6	0.000	0.108	2605	1389	3488	0	0	0	0	0	0	28.83	13.90	28.83
2997	-0.90	-194.6	258.3	-8.8	290	3002	0.00	1.85	0.00	0.000	4	0.000	0.129	2605	455	3488	0	0	0	0	0	0	28.83	13.85	28.83
3082	-0.90	-194.6	266.1	-8.8	293	3087	0.00	1.73	0.00	0.000	6	0.000	0.073	2605	1388	3488	0	0	0	0	0	0	28.83	13.86	28.83
3294	-0.92	-194.6	283.9	-8.5	300	3295	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	1388	3488	0	0	0	0	0	0	28.83	28.83	28.83
3473	-0.95	-194.6	298.6	-8.1	306	3475	0.12	0.00	0.00	0.000	6	0.128	0.000	2551	1388	3488	0	0	0	0	0	0	14.32	28.83	28.83
3498	end dive: TARGET_DEPTH_EXCEEDED
state	3498	begin apogee
3509	-0.33	0.0	301.2	-8.2	307	3689	0.73	0.00	174.12	1.073	4	0.192	0.000	2752	1899	2690	0	0	0	0	0	0	13.74	28.83	13.47
3694	end apogee: CONTROL_FINISHED_OK
state	3694	begin climb
3698	1.11	194.6	310.1	0.0	313	3887	1.52	1.98	177.35	1.078	4	0.129	0.106	3226	2963	1900	0	0	0	0	0	0	14.00	14.02	13.48
3977	1.04	194.6	289.8	10.1	322	3984	0.00	2.03	0.00	0.000	6	0.000	0.099	3233	1895	1885	0	0	0	0	0	0	28.83	13.94	28.83
4188	0.98	194.6	268.1	10.2	329	4194	0.20	1.98	0.00	0.000	4	0.265	0.101	3187	2959	1884	0	0	0	0	0	0	13.67	14.00	28.83
4288	0.93	201.5	259.4	9.8	332	4294	0.00	2.03	1.35	0.169	6	0.000	0.103	3195	1888	1870	0	0	0	0	0	0	28.83	14.04	14.07
4482	0.92	240.6	241.4	8.6	344	4529	0.00	2.10	42.08	0.975	4	0.000	0.133	3203	837	1708	0	0	0	0	0	0	28.83	14.31	13.78
4573	0.89	265.9	233.2	9.1	353	4609	0.17	1.98	24.55	0.959	6	0.235	0.081	3160	1903	1604	0	0	0	0	0	0	13.83	14.06	13.72
4789	0.92	306.5	213.5	8.6	375	4837	0.00	1.95	39.40	0.967	4	0.000	0.103	3160	2957	1436	0	0	0	0	0	0	28.83	14.28	13.75
5001	0.96	325.6	193.9	9.3	396	5027	0.00	1.95	18.17	0.933	6	0.000	0.108	3166	1926	1360	0	0	0	0	0	0	28.83	14.04	13.79
5211	0.99	348.4	174.4	9.2	417	5239	0.00	1.95	22.45	0.920	4	0.000	0.106	3166	2964	1268	0	0	0	0	0	0	28.83	14.36	13.83
5312	1.05	365.4	165.3	9.4	427	5337	0.00	1.92	17.17	0.905	6	0.000	0.109	3173	1954	1197	0	0	0	0	0	0	28.83	14.06	13.81
5519	1.10	395.9	146.3	8.9	448	5557	0.15	1.88	29.45	0.904	4	0.112	0.109	3238	2956	1073	0	0	0	0	0	0	14.35	14.32	13.83
5612	1.10	395.9	137.0	10.9	457	5619	0.00	1.85	0.00	0.000	6	0.000	0.099	3245	1970	1067	0	0	0	0	0	0	28.83	14.08	28.83
5798	1.10	395.9	117.7	10.1	476	5807	0.00	2.25	0.00	0.000	4	0.000	0.124	3253	849	1065	0	0	0	0	0	0	28.83	13.98	28.83
5879	1.07	395.9	109.0	10.8	484	5887	0.12	2.10	0.00	0.000	6	0.210	0.085	3217	1965	1065	0	0	0	0	0	0	13.85	14.04	28.83
6068	1.07	395.9	89.2	10.8	503	6076	0.00	1.85	0.00	0.000	4	0.000	0.100	3217	2953	1065	0	0	0	0	0	0	28.83	13.90	28.83
6118	1.07	395.9	83.8	11.2	508	6127	0.00	1.85	0.00	0.000	6	0.000	0.103	3222	1979	1064	0	0	0	0	0	0	28.83	14.00	28.83
6308	1.07	395.9	62.2	11.3	527	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	3222	1980	1064	0	0	0	0	0	0	28.83	28.83	28.83
6498	1.07	395.9	40.8	10.8	546	6499	0.00	0.00	0.00	0.000	6	0.000	0.000	3222	1980	1064	0	0	0	0	0	0	28.83	28.83	28.83
6679	1.07	395.9	20.1	11.9	564	6687	0.00	1.85	0.00	0.000	4	0.000	0.102	3222	2954	1064	0	0	0	0	0	0	28.83	13.97	28.83
6720	1.07	395.9	15.5	11.5	568	6727	0.00	1.83	0.00	0.000	6	0.000	0.102	3227	2003	1064	0	0	0	0	0	0	28.83	14.02	28.83
6824	end climb: SURFACE_DEPTH_REACHED
state	6825	begin surface coast
6850	end surface coast: CONTROL_FINISHED_OK
state	6850	begin surface