Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 476 * 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 476 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 16 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 INT_PRESSURE_YINT 1

D_TGT 475 SM_CC 300 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_ABORT 600 N_FILEKB 4 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 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 5 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 215 CAPUPLOAD 1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 6 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 40 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 -53607.297 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP -4 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 2400 PHONE_SUPPLY -2 SEABIRD_C_G -9.8833933

MAX_BUOY 110 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 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 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 1000 ALTIM_PING_DELTA 0

HEADING -1 C_ROLL_CLIMB 1000 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 475 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 5 HEADING -1 RAFOS_DEVICE -1 T_DIVE 215

CALL_WAIT 60 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 6

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 160 RHO 1.0275 T_GPS_CHARGE -53607.297

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 ROLL_ADJ_GAIN 0 T_MISSION 250

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 -4

COURSE_BIAS 0 LOGGERDEVICE2 67 ROLL_DEG 30 T_TURN 225

C_PITCH 2400 LOGGERDEVICE3 -1 ROLL_MAX 3200 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1000 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 T_WATCHDOG 10

C_ROLL_DIVE 1000 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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 32 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 476 N_FILEKB 4 SEABIRD_T_G 0.0043567605 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 600 N_GPS 40 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 0 SM_CC 300

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

D_PITCH 0 PITCH_AD_RATE 120 STROBE 0

Pre-dive calculations and measurements:

GPS1 310713,090622,2439.266,-3803.466,301,99.0,301,-15.1 TGT_NAME NE

_CALLS 4 TGT_LATLONG 2447.500,-3747.160

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310713,090622,2439.266,-3803.466,364,99.0,364,-15.1 MHEAD_RNG_PITCHd_Wd 105.0,31372,-15.5,-7.364,-19.87,2208

SPEED_LIMITS 0.128,0.204 D_GRID 475

Post-dive calculations and measurements:

FINISH 5.3,1.025078 _10V_AH 13.3,0.000

SM_CCo 7777,159.60,0.074,0,0,189,517.58 FG_AHR_24Vo 0.000

SM_GC 6.49,7.53,0.00,0.00,0.042,0.000,0.000,150,1007,193,-6.97,0.20,516.85,0,0,0,0,0,0,14.57,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2429.95,-3801.44,310713,222214 MEM 345140

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 13493,386

HUMID 82.32 CAP_FILE_SIZE 137475,0

INTERNAL_PRESSURE 9.49642 CFSIZE 260034560,188911616

TCM_TEMP 22.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 14.663,348.4,1

SC_FREEKB 3837856 GPS 310713,222914,2429.950,-3801.442,0,10000.0,0,-15.1

_24V_AH 13.4,185.638

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 377 101.66 nil 0 0 0.00

Roll_motor 70 100 94.85 nil 0 0 0.00

VBD_pump_during_apogee 233 1458 4557.82 nil 0 0 0.00

VBD_pump_during_surface 159 74 158.70 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 7796 8 889.53

Iridium_during_xfer 1266 201 3414.50 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 366 21 105.79

TT8 1423 9 174.58

LPSleep 5237 2 152.55

TT8_Active 499 9 61.30

TT8_Sampling 2634 27 978.92

TT8_CF8 523 32 225.71

TT8_Kalman 0 0 0.00

Analog_circuits 2401 17 542.97

GPS_charging 0 0 0.00

Compass 1121 5 74.58

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

21 -0.88 -107.1 146 998 226 163 0.0 0.0 0 37 0.00 0.00 -14.75 0.000 16386 0.000 0.000 145 998 529 545 514 0 0 0 0 0 0 28.83 28.83 28.83

42 -0.88 -107.1 146 998 545 515 3.4 0.0 1 148 9.48 1.52 -88.50 0.000 19204 0.354 0.101 2107 326 2737 2737 2738 0 0 0 0 0 0 14.09 14.40 14.83

184 -0.88 -107.1 1280 326 2682 2730 17.8 -22.3 10 189 0.00 1.48 0.00 0.000 1030 0.000 0.037 2102 998 2737 2737 2738 0 0 0 0 0 0 28.83 14.45 28.83

498 -0.88 -107.1 2103 999 2737 2738 112.6 -26.2 31 504 0.00 2.35 0.00 0.000 260 0.000 0.051 2104 2057 2737 2737 2738 0 0 0 0 0 0 28.83 14.54 28.83

735 -0.88 -107.1 1264 2052 2685 2729 168.5 -24.4 46 740 0.00 2.45 0.00 0.000 1030 0.000 0.050 2102 991 2737 2737 2738 0 0 0 0 0 0 28.83 14.50 28.83

1049 -0.88 -107.1 2102 992 2736 2738 244.7 -23.4 67 1055 0.00 2.42 0.00 0.000 260 0.000 0.050 2102 2054 2737 2737 2737 0 0 0 0 0 0 28.83 14.51 28.83

1286 -0.88 -107.1 2102 2053 2737 2736 295.1 -23.4 75 1291 0.00 2.40 0.00 0.000 1030 0.000 0.050 2102 1000 2737 2737 2737 0 0 0 0 0 0 28.83 14.51 28.83

1601 -0.88 -107.1 2099 1000 2737 2736 378.4 -25.7 86 1607 0.00 2.40 0.00 0.000 260 0.000 0.051 2102 2053 2736 2737 2735 0 0 0 0 0 0 28.83 14.49 28.83

1837 -0.88 -107.1 2102 2052 2737 2734 434.7 -26.2 93 1843 0.00 2.42 0.00 0.000 1030 0.000 0.052 2102 999 2735 2737 2734 0 0 0 0 0 0 28.83 14.50 28.83

1968 end dive: TARGET_DEPTH_EXCEEDED

state 1968 begin apogee

1976 -0.25 0.0 2102 999 2737 2733 475.7 -26.8 98 2066 1.00 0.00 84.47 1.436 10246 0.340 0.000 2310 998 2296 2306 2286 0 0 0 0 0 0 13.61 28.83 13.45

2072 end apogee: CONTROL_FINISHED_OK

state 2072 begin climb

2075 0.88 107.1 2310 998 2302 2285 493.2 0.0 101 2174 1.70 1.48 87.03 1.458 10756 0.345 0.069 2671 337 1858 1930 1787 0 0 0 0 0 0 14.02 14.31 13.45

2202 0.88 107.1 2671 337 1922 1784 500.2 -2.3 105 2208 0.00 1.48 0.00 0.000 1030 0.000 0.041 2667 1001 1853 1922 1784 0 0 0 0 0 0 28.83 14.38 28.83

2523 0.88 107.1 2667 1005 1917 1780 460.5 12.0 116 2529 0.00 2.35 0.00 0.000 260 0.000 0.053 2665 2056 1848 1916 1780 0 0 0 0 0 0 28.83 14.55 28.83

2621 0.88 107.1 1672 2052 1863 1771 449.0 12.2 119 2627 0.00 2.40 0.00 0.000 1030 0.000 0.051 2664 999 1847 1916 1778 0 0 0 0 0 0 28.83 14.57 28.83

2954 0.88 107.1 2664 999 1915 1776 411.8 10.8 130 2959 0.00 2.40 0.00 0.000 260 0.000 0.051 2663 2059 1845 1915 1776 0 0 0 0 0 0 28.83 14.59 28.83

3049 0.88 107.1 2664 2058 1915 1774 401.6 10.6 133 3054 0.00 2.40 0.00 0.000 1030 0.000 0.049 2664 1000 1844 1915 1774 0 0 0 0 0 0 28.83 14.57 28.83

3387 0.88 107.1 2664 1000 1914 1773 369.0 9.6 144 3392 0.00 1.50 0.00 0.000 516 0.000 0.066 2664 314 1843 1914 1773 0 0 0 0 0 0 28.83 14.48 28.83

3405 0.88 107.1 2664 314 1913 1773 369.0 9.6 144 3410 0.00 1.50 0.00 0.000 1030 0.000 0.038 2664 1006 1842 1912 1773 0 0 0 0 0 0 28.83 14.47 28.83

3727 0.88 107.1 2664 1005 1911 1772 336.7 8.9 155 3732 0.00 1.52 0.00 0.000 516 0.000 0.060 2664 336 1841 1911 1772 0 0 0 0 0 0 28.83 14.41 28.83

3748 0.88 107.1 2664 336 1911 1772 336.7 8.9 155 3753 0.00 1.42 0.00 0.000 1030 0.000 0.038 2664 1000 1841 1911 1772 0 0 0 0 0 0 28.83 14.49 28.83

4067 0.88 107.1 2664 1000 1910 1770 309.0 7.8 166 4073 0.00 1.50 0.00 0.000 516 0.000 0.060 2664 336 1839 1911 1767 0 0 0 0 0 0 28.83 14.40 28.83

4127 0.88 107.1 2665 336 1904 1772 306.0 8.0 167 4134 0.00 1.42 0.00 0.000 1030 0.000 0.037 2663 1000 1838 1904 1772 0 0 0 0 0 0 28.83 14.47 28.83

4432 0.88 107.1 2664 999 1903 1772 277.5 9.1 178 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 1000 1837 1902 1772 0 0 0 0 0 0 28.83 28.83 28.83

4732 0.88 107.1 2664 1000 1901 1772 249.6 9.2 188 4737 0.00 2.35 0.00 0.000 260 0.000 0.051 2664 2048 1836 1901 1772 0 0 0 0 0 0 28.83 14.50 28.83

4831 0.88 107.1 1664 2043 1849 1765 241.4 8.2 194 4837 0.00 2.40 0.00 0.000 1030 0.000 0.047 2664 992 1836 1900 1772 0 0 0 0 0 0 28.83 14.50 28.83

5147 0.88 107.1 2664 992 1900 1772 214.8 8.4 215 5152 0.00 2.40 0.00 0.000 260 0.000 0.048 2664 2051 1836 1900 1772 0 0 0 0 0 0 28.83 14.49 28.83

5205 0.88 107.1 2658 2050 1899 1772 210.5 8.7 218 5212 0.00 2.42 0.00 0.000 1030 0.000 0.047 2664 994 1837 1899 1776 0 0 0 0 0 0 28.83 14.47 28.83

5511 0.89 113.8 2663 995 1898 1772 187.3 7.1 239 5516 0.00 1.48 0.00 0.000 516 0.000 0.063 2664 337 1835 1898 1772 0 0 0 0 0 0 28.83 14.31 28.83

5524 0.90 120.5 2663 337 1897 1772 187.3 7.1 239 5534 0.00 1.42 5.22 0.940 9222 0.000 0.037 2664 996 1809 1875 1743 0 0 0 0 0 0 28.83 14.41 13.64

5831 0.90 120.5 2664 996 1875 1753 163.8 8.0 260 5836 0.00 1.50 0.00 0.000 516 0.000 0.060 2663 322 1814 1875 1754 0 0 0 0 0 0 28.83 14.39 28.83

5854 0.90 120.5 2664 322 1875 1754 161.9 8.6 261 5859 0.00 1.45 0.00 0.000 1030 0.000 0.034 2658 1004 1814 1875 1754 0 0 0 0 0 0 28.83 14.48 28.83

6168 0.92 143.5 2658 1003 1875 1754 140.3 6.3 282 6199 0.12 2.35 23.52 0.991 10500 0.378 0.047 2677 2046 1709 1773 1645 0 0 0 0 0 0 13.83 14.65 13.78

6240 0.93 157.3 2676 2046 1765 1643 135.0 6.7 286 6260 0.00 2.35 12.18 0.974 9222 0.000 0.047 2677 1003 1653 1708 1598 0 0 0 0 0 0 28.83 14.52 13.76

6569 0.93 157.3 2677 1003 1695 1598 101.5 11.1 308 6574 0.00 1.50 0.00 0.000 516 0.000 0.068 2677 321 1646 1695 1598 0 0 0 0 0 0 28.83 14.33 28.83

6682 0.93 157.3 2677 320 1691 1599 87.8 12.7 315 6687 0.00 1.45 0.00 0.000 1030 0.000 0.039 2677 986 1645 1692 1599 0 0 0 0 0 0 28.83 14.42 28.83

7002 0.93 157.3 2677 986 1692 1599 49.0 9.2 336 7007 0.00 1.50 0.00 0.000 516 0.000 0.064 2677 338 1645 1692 1599 0 0 0 0 0 0 28.83 14.31 28.83

7139 0.93 157.3 2677 337 1692 1599 36.2 10.8 344 7146 0.00 1.45 0.00 0.000 1030 0.000 0.035 2671 1012 1645 1692 1599 0 0 0 0 0 0 28.83 14.40 28.83

7444 0.93 157.3 2671 1013 1690 1599 7.2 10.7 365 7450 0.00 1.55 0.00 0.000 516 0.000 0.057 2671 321 1645 1690 1600 0 0 0 0 0 0 28.83 14.28 28.83

7681 1.09 311.0 2671 324 1697 1599 5.2 0.2 380 7707 0.25 1.45 20.85 0.099 11266 0.239 0.032 2744 998 1479 1543 1416 0 0 0 0 0 0 13.99 14.38 28.83

7708 end climb: SURFACE_DEPTH_REACHED

state 7708 begin surface coast

7772 end surface coast: CONTROL_FINISHED_OK

state 7772 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	476	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	16	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	INT_PRESSURE_YINT	1
D_TGT	475	SM_CC	300	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_ABORT	600	N_FILEKB	4	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	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	5	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	215	CAPUPLOAD	1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	6	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	40	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	-53607.297	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	-4	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	2400	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8833933
MAX_BUOY	110	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	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	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	1000	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	1000	ALTIM_FREQUENCY	13

GPS1	310713,090622,2439.266,-3803.466,301,99.0,301,-15.1	TGT_NAME	NE
_CALLS	4	TGT_LATLONG	2447.500,-3747.160
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310713,090622,2439.266,-3803.466,364,99.0,364,-15.1	MHEAD_RNG_PITCHd_Wd	105.0,31372,-15.5,-7.364,-19.87,2208
SPEED_LIMITS	0.128,0.204	D_GRID	475

FINISH	5.3,1.025078	_10V_AH	13.3,0.000
SM_CCo	7777,159.60,0.074,0,0,189,517.58	FG_AHR_24Vo	0.000
SM_GC	6.49,7.53,0.00,0.00,0.042,0.000,0.000,150,1007,193,-6.97,0.20,516.85,0,0,0,0,0,0,14.57,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2429.95,-3801.44,310713,222214	MEM	345140
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	13493,386
HUMID	82.32	CAP_FILE_SIZE	137475,0
INTERNAL_PRESSURE	9.49642	CFSIZE	260034560,188911616
TCM_TEMP	22.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	14.663,348.4,1
SC_FREEKB	3837856	GPS	310713,222914,2429.950,-3801.442,0,10000.0,0,-15.1
_24V_AH	13.4,185.638

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	377	101.66	nil	0	0	0.00
Roll_motor	70	100	94.85	nil	0	0	0.00
VBD_pump_during_apogee	233	1458	4557.82	nil	0	0	0.00
VBD_pump_during_surface	159	74	158.70	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	7796	8	889.53
Iridium_during_xfer	1266	201	3414.50	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	366	21	105.79
TT8	1423	9	174.58
LPSleep	5237	2	152.55
TT8_Active	499	9	61.30
TT8_Sampling	2634	27	978.92
TT8_CF8	523	32	225.71
TT8_Kalman	0	0	0.00
Analog_circuits	2401	17	542.97
GPS_charging	0	0	0.00
Compass	1121	5	74.58
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
21	-0.88	-107.1	146	998	226	163	0.0	0.0	0	37	0.00	0.00	-14.75	0.000	16386	0.000	0.000	145	998	529	545	514	0	0	0	0	0	0	28.83	28.83	28.83
42	-0.88	-107.1	146	998	545	515	3.4	0.0	1	148	9.48	1.52	-88.50	0.000	19204	0.354	0.101	2107	326	2737	2737	2738	0	0	0	0	0	0	14.09	14.40	14.83
184	-0.88	-107.1	1280	326	2682	2730	17.8	-22.3	10	189	0.00	1.48	0.00	0.000	1030	0.000	0.037	2102	998	2737	2737	2738	0	0	0	0	0	0	28.83	14.45	28.83
498	-0.88	-107.1	2103	999	2737	2738	112.6	-26.2	31	504	0.00	2.35	0.00	0.000	260	0.000	0.051	2104	2057	2737	2737	2738	0	0	0	0	0	0	28.83	14.54	28.83
735	-0.88	-107.1	1264	2052	2685	2729	168.5	-24.4	46	740	0.00	2.45	0.00	0.000	1030	0.000	0.050	2102	991	2737	2737	2738	0	0	0	0	0	0	28.83	14.50	28.83
1049	-0.88	-107.1	2102	992	2736	2738	244.7	-23.4	67	1055	0.00	2.42	0.00	0.000	260	0.000	0.050	2102	2054	2737	2737	2737	0	0	0	0	0	0	28.83	14.51	28.83
1286	-0.88	-107.1	2102	2053	2737	2736	295.1	-23.4	75	1291	0.00	2.40	0.00	0.000	1030	0.000	0.050	2102	1000	2737	2737	2737	0	0	0	0	0	0	28.83	14.51	28.83
1601	-0.88	-107.1	2099	1000	2737	2736	378.4	-25.7	86	1607	0.00	2.40	0.00	0.000	260	0.000	0.051	2102	2053	2736	2737	2735	0	0	0	0	0	0	28.83	14.49	28.83
1837	-0.88	-107.1	2102	2052	2737	2734	434.7	-26.2	93	1843	0.00	2.42	0.00	0.000	1030	0.000	0.052	2102	999	2735	2737	2734	0	0	0	0	0	0	28.83	14.50	28.83
1968	end dive: TARGET_DEPTH_EXCEEDED
state	1968	begin apogee
1976	-0.25	0.0	2102	999	2737	2733	475.7	-26.8	98	2066	1.00	0.00	84.47	1.436	10246	0.340	0.000	2310	998	2296	2306	2286	0	0	0	0	0	0	13.61	28.83	13.45
2072	end apogee: CONTROL_FINISHED_OK
state	2072	begin climb
2075	0.88	107.1	2310	998	2302	2285	493.2	0.0	101	2174	1.70	1.48	87.03	1.458	10756	0.345	0.069	2671	337	1858	1930	1787	0	0	0	0	0	0	14.02	14.31	13.45
2202	0.88	107.1	2671	337	1922	1784	500.2	-2.3	105	2208	0.00	1.48	0.00	0.000	1030	0.000	0.041	2667	1001	1853	1922	1784	0	0	0	0	0	0	28.83	14.38	28.83
2523	0.88	107.1	2667	1005	1917	1780	460.5	12.0	116	2529	0.00	2.35	0.00	0.000	260	0.000	0.053	2665	2056	1848	1916	1780	0	0	0	0	0	0	28.83	14.55	28.83
2621	0.88	107.1	1672	2052	1863	1771	449.0	12.2	119	2627	0.00	2.40	0.00	0.000	1030	0.000	0.051	2664	999	1847	1916	1778	0	0	0	0	0	0	28.83	14.57	28.83
2954	0.88	107.1	2664	999	1915	1776	411.8	10.8	130	2959	0.00	2.40	0.00	0.000	260	0.000	0.051	2663	2059	1845	1915	1776	0	0	0	0	0	0	28.83	14.59	28.83
3049	0.88	107.1	2664	2058	1915	1774	401.6	10.6	133	3054	0.00	2.40	0.00	0.000	1030	0.000	0.049	2664	1000	1844	1915	1774	0	0	0	0	0	0	28.83	14.57	28.83
3387	0.88	107.1	2664	1000	1914	1773	369.0	9.6	144	3392	0.00	1.50	0.00	0.000	516	0.000	0.066	2664	314	1843	1914	1773	0	0	0	0	0	0	28.83	14.48	28.83
3405	0.88	107.1	2664	314	1913	1773	369.0	9.6	144	3410	0.00	1.50	0.00	0.000	1030	0.000	0.038	2664	1006	1842	1912	1773	0	0	0	0	0	0	28.83	14.47	28.83
3727	0.88	107.1	2664	1005	1911	1772	336.7	8.9	155	3732	0.00	1.52	0.00	0.000	516	0.000	0.060	2664	336	1841	1911	1772	0	0	0	0	0	0	28.83	14.41	28.83
3748	0.88	107.1	2664	336	1911	1772	336.7	8.9	155	3753	0.00	1.42	0.00	0.000	1030	0.000	0.038	2664	1000	1841	1911	1772	0	0	0	0	0	0	28.83	14.49	28.83
4067	0.88	107.1	2664	1000	1910	1770	309.0	7.8	166	4073	0.00	1.50	0.00	0.000	516	0.000	0.060	2664	336	1839	1911	1767	0	0	0	0	0	0	28.83	14.40	28.83
4127	0.88	107.1	2665	336	1904	1772	306.0	8.0	167	4134	0.00	1.42	0.00	0.000	1030	0.000	0.037	2663	1000	1838	1904	1772	0	0	0	0	0	0	28.83	14.47	28.83
4432	0.88	107.1	2664	999	1903	1772	277.5	9.1	178	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	1000	1837	1902	1772	0	0	0	0	0	0	28.83	28.83	28.83
4732	0.88	107.1	2664	1000	1901	1772	249.6	9.2	188	4737	0.00	2.35	0.00	0.000	260	0.000	0.051	2664	2048	1836	1901	1772	0	0	0	0	0	0	28.83	14.50	28.83
4831	0.88	107.1	1664	2043	1849	1765	241.4	8.2	194	4837	0.00	2.40	0.00	0.000	1030	0.000	0.047	2664	992	1836	1900	1772	0	0	0	0	0	0	28.83	14.50	28.83
5147	0.88	107.1	2664	992	1900	1772	214.8	8.4	215	5152	0.00	2.40	0.00	0.000	260	0.000	0.048	2664	2051	1836	1900	1772	0	0	0	0	0	0	28.83	14.49	28.83
5205	0.88	107.1	2658	2050	1899	1772	210.5	8.7	218	5212	0.00	2.42	0.00	0.000	1030	0.000	0.047	2664	994	1837	1899	1776	0	0	0	0	0	0	28.83	14.47	28.83
5511	0.89	113.8	2663	995	1898	1772	187.3	7.1	239	5516	0.00	1.48	0.00	0.000	516	0.000	0.063	2664	337	1835	1898	1772	0	0	0	0	0	0	28.83	14.31	28.83
5524	0.90	120.5	2663	337	1897	1772	187.3	7.1	239	5534	0.00	1.42	5.22	0.940	9222	0.000	0.037	2664	996	1809	1875	1743	0	0	0	0	0	0	28.83	14.41	13.64
5831	0.90	120.5	2664	996	1875	1753	163.8	8.0	260	5836	0.00	1.50	0.00	0.000	516	0.000	0.060	2663	322	1814	1875	1754	0	0	0	0	0	0	28.83	14.39	28.83
5854	0.90	120.5	2664	322	1875	1754	161.9	8.6	261	5859	0.00	1.45	0.00	0.000	1030	0.000	0.034	2658	1004	1814	1875	1754	0	0	0	0	0	0	28.83	14.48	28.83
6168	0.92	143.5	2658	1003	1875	1754	140.3	6.3	282	6199	0.12	2.35	23.52	0.991	10500	0.378	0.047	2677	2046	1709	1773	1645	0	0	0	0	0	0	13.83	14.65	13.78
6240	0.93	157.3	2676	2046	1765	1643	135.0	6.7	286	6260	0.00	2.35	12.18	0.974	9222	0.000	0.047	2677	1003	1653	1708	1598	0	0	0	0	0	0	28.83	14.52	13.76
6569	0.93	157.3	2677	1003	1695	1598	101.5	11.1	308	6574	0.00	1.50	0.00	0.000	516	0.000	0.068	2677	321	1646	1695	1598	0	0	0	0	0	0	28.83	14.33	28.83
6682	0.93	157.3	2677	320	1691	1599	87.8	12.7	315	6687	0.00	1.45	0.00	0.000	1030	0.000	0.039	2677	986	1645	1692	1599	0	0	0	0	0	0	28.83	14.42	28.83
7002	0.93	157.3	2677	986	1692	1599	49.0	9.2	336	7007	0.00	1.50	0.00	0.000	516	0.000	0.064	2677	338	1645	1692	1599	0	0	0	0	0	0	28.83	14.31	28.83
7139	0.93	157.3	2677	337	1692	1599	36.2	10.8	344	7146	0.00	1.45	0.00	0.000	1030	0.000	0.035	2671	1012	1645	1692	1599	0	0	0	0	0	0	28.83	14.40	28.83
7444	0.93	157.3	2671	1013	1690	1599	7.2	10.7	365	7450	0.00	1.55	0.00	0.000	516	0.000	0.057	2671	321	1645	1690	1600	0	0	0	0	0	0	28.83	14.28	28.83
7681	1.09	311.0	2671	324	1697	1599	5.2	0.2	380	7707	0.25	1.45	20.85	0.099	11266	0.239	0.032	2744	998	1479	1543	1416	0	0	0	0	0	0	13.99	14.38	28.83
7708	end climb: SURFACE_DEPTH_REACHED
state	7708	begin surface coast
7772	end surface coast: CONTROL_FINISHED_OK
state	7772	begin surface