Glider dive log

SPURS Sep12 * SG191 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 191 HEADING -1 ROLL_DEG 30 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING 0 C_ROLL_DIVE 1500 ALTIM_PULSE 3

DIVE 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1500 ALTIM_SENSITIVITY 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 600 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 16 INT_PRESSURE_YINT 2.7

D_ABORT 700 SM_CC 350 R_STBD_OVSHOOT 24 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 100 FILEMGR 0 ROLL_MAXERRORS 2 MOTHERBOARD 4

T_BOOST 2 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 9 VBD_MIN 500 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 3270 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 3

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 53

T_DIVE 200 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 67

T_MISSION 240 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE3 -1

T_ABORT 720 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 97

T_TURN_SAMPINT 5 T_GPS 5 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -3660.675 AH0_24V 350 RAFOS_DEVICE -1

USE_BATHY 0 T_RSLEEP 2 AH0_10V 0 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 12 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 12 SIM_PITCH 0

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043008043

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.0006204489

RELAUNCH 1 PITCH_MIN 165 PHONE_SUPPLY -2 SEABIRD_T_I 2.2177979e-05

APOGEE_PITCH -5 PITCH_MAX 3912 PRESSURE_YINT -46.410744 SEABIRD_T_J 2.3040141e-06

MAX_BUOY 150 C_PITCH 2230 PRESSURE_SLOPE 0.0001171456 SEABIRD_C_G -9.8990955

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.13379

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00086898328

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00011426309

RHO 1.0275 PITCH_GAIN 28 COMPASS_USE 4 SC_RECORDABOVE 2000.0

MASS 55001 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 0.015 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 0 TM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 312 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

HD_C 9.9999997e-06 ROLL_MAX 3859 ALTIM_PING_DELTA 0 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

AH0_10V 0 D_SAFE 0 PITCH_AD_RATE 165 STROBE 0

AH0_24V 350 D_SURF 2 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 600 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_GAIN 28 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3912 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 165 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LAT 4736

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001171456 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PRESSURE_YINT -46.410744 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PROTOCOL 9 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 720

CALL_WAIT 60 HEADING -1 RAFOS_HIT_WINDOW 3600 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_DIVE 200

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 191 ROLL_ADJ_DBAND 0 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_GPS_CHARGE -3660.675

COMPASS_DEVICE 97 INT_PRESSURE_YINT 2.7 ROLL_AD_RATE 350 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 2 ROLL_CNV 0.028270001 T_MISSION 240

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_DEG 30 T_NO_W 120

C_PITCH 2230 LOGGERDEVICE2 67 ROLL_MAX 3859 T_RSLEEP 2

C_ROLL_CLIMB 1500 LOGGERDEVICE3 -1 ROLL_MAXERRORS 2 T_TURN 225

C_ROLL_DIVE 1500 LOGGERDEVICE4 -1 ROLL_MIN 312 T_TURN_SAMPINT 5

C_VBD 3270 LOGGERS 3 ROLL_TIMEOUT 15 T_WATCHDOG 10

DEEPGLIDER 0 MASS 55001 R_PORT_OVSHOOT 16 UNCOM_BLEED 50

DEEPGLIDERMB 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 12 SC_PROFILE 3.0 USE_BATHY 0

DEVICE2 -1 MINV_24V 12 SC_RECORDABOVE 2000.0 USE_ICE 0

DEVICE3 -1 MISSION 5 SC_XMITPROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8990955 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 SEABIRD_C_H 1.13379 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_I -0.00086898328 VBD_MAX 3960

DIVE 5 N_DIVES 0 SEABIRD_C_J 0.00011426309 VBD_MAXERRORS 1

D_ABORT 700 N_FILEKB 8 SEABIRD_T_G 0.0043008043 VBD_MIN 500

D_BOOST 100 N_GPS 20 SEABIRD_T_H 0.0006204489 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_NOCOMM 1 SEABIRD_T_I 2.2177979e-05 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_J 2.3040141e-06 VBD_TIMEOUT 720

D_FLARE 3 PHONE_DEVICE 49 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 1 SM_CC 350 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 170912,041721,2435.528,-3802.875,28,1.2,35,-14.0 TGT_NAME midS

_CALLS 1 TGT_LATLONG 2356.000,-3802.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -43.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170912,042830,2435.519,-3802.742,15,0.9,17,-14.0 MHEAD_RNG_PITCHd_Wd 221.8,73199,-17.5,-10.000,-21.06

SPEED_LIMITS 0.173,0.260 D_GRID 600

Post-dive calculations and measurements:

FINISH -0.3,1.024608 _24V_AH 13.3,7.500

SM_CCo 10912,0.00,0.000,0,0,1784,364.27 _10V_AH 13.3,0.000

SM_GC -0.11,6.65,0.00,0.00,0.068,0.000,0.000,159,1500,1784,-6.42,0.03,364.27,0,0,0,0,0,0,14.86,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2427.58,-3803.31,170912,010117 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 345200

HUMID 50.03 DATA_FILE_SIZE 23409,629

INTERNAL_PRESSURE 9.37018 CAP_FILE_SIZE 139141,0

TCM_TEMP 26.30 CFSIZE 260034560,257822720

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0

SC_FREEKB 7768096 CURRENT 0.075,111.4,1

TM_FREEKB 7871360 GPS 170912,073204,2433.906,-3803.029,38,0.8,38,-14.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 411 100.31 nil 0 0 0.00

Roll_motor 59 114 90.08 nil 0 0 0.00

VBD_pump_during_apogee 558 2009 14922.47 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 10852 14 2073.03

Iridium_during_xfer 414 183 1012.40 TMICL 4212 12 724.67

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.95

TT8 1885 9 242.52

LPSleep 7011 2 204.21

TT8_Active 579 8 68.70

TT8_Sampling 2033 29 788.03

TT8_CF8 76 35 36.61

TT8_Kalman 0 0 0.00

Analog_circuits 1805 15 379.48

GPS_charging 0 0 0.00

Compass 1401 6 125.61

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

19 -0.80 -146.0 0.0 0.0 0 95 0.00 0.00 -72.62 0.000 2 0.000 0.000 159 1501 3711 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.80 -146.0 4.0 -8.4 7 114 8.77 1.77 -2.67 0.000 4 0.412 0.096 1957 2560 3865 0 0 0 0 0 0 14.52 14.73 14.95

201 -0.75 -146.0 28.7 -17.4 17 207 0.12 1.85 0.00 0.000 6 0.285 0.085 1983 1494 3868 0 0 0 0 0 0 14.67 14.77 28.83

514 -0.72 -146.0 72.3 -10.6 48 515 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 1494 3870 0 0 0 0 0 0 28.83 28.83 28.83

815 -0.70 -146.0 108.0 -11.5 78 816 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 1494 3870 0 0 0 0 0 0 28.83 28.83 28.83

1114 -0.70 -146.0 144.4 -12.5 108 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 1982 1494 3871 0 0 0 0 0 0 28.83 28.83 28.83

1414 -0.70 -146.0 182.7 -12.6 138 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 1983 1494 3871 0 0 0 0 0 0 28.83 28.83 28.83

1714 -0.70 -146.0 214.1 -9.7 168 1719 0.00 1.85 0.00 0.000 4 0.000 0.108 1983 434 3870 0 0 0 0 0 0 28.83 14.88 28.83

1829 -0.70 -146.0 225.9 -10.8 179 1836 0.00 1.83 0.00 0.000 6 0.000 0.066 1977 1506 3871 0 0 0 0 0 0 28.83 14.88 28.83

2156 -0.70 -146.0 261.4 -11.6 206 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 1502 3871 0 0 0 0 0 0 28.83 28.83 28.83

2456 -0.70 -146.0 300.0 -13.3 216 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 1502 3871 0 0 0 0 0 0 28.83 28.83 28.83

2756 -0.70 -146.0 337.3 -11.9 226 2758 0.00 0.00 0.00 0.000 6 0.000 0.000 1977 1502 3871 0 0 0 0 0 0 28.83 28.83 28.83

3056 -0.70 -146.0 369.7 -10.3 236 3061 0.00 1.88 0.00 0.000 4 0.000 0.110 1977 441 3870 0 0 0 0 0 0 28.83 14.96 28.83

3088 -0.70 -146.0 373.0 -10.3 237 3094 0.12 1.77 0.00 0.000 6 0.273 0.068 1996 1503 3870 0 0 0 0 0 0 14.89 15.00 28.83

3422 -0.74 -146.0 402.1 -9.3 248 3427 0.00 1.88 0.00 0.000 4 0.000 0.111 1996 443 3868 0 0 0 0 0 0 28.83 14.97 28.83

3473 -0.77 -146.0 405.4 -9.5 249 3478 0.00 1.77 0.00 0.000 6 0.000 0.070 1991 1501 3868 0 0 0 0 0 0 28.83 15.00 28.83

3785 -0.80 -146.0 440.4 -10.2 260 3787 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 1502 3866 0 0 0 0 0 0 28.83 28.83 28.83

4086 -0.83 -146.0 469.2 -9.6 270 4087 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 1502 3865 0 0 0 0 0 0 28.83 28.83 28.83

4385 -0.86 -146.0 504.0 -12.3 280 4391 0.12 1.85 0.00 0.000 4 0.145 0.109 1939 443 3864 0 0 0 0 0 0 15.02 14.97 28.83

4462 -0.86 -146.0 513.8 -14.0 282 4467 0.00 1.77 0.00 0.000 6 0.000 0.070 1931 1503 3864 0 0 0 0 0 0 28.83 15.01 28.83

4779 -0.83 -146.0 562.7 -14.1 293 4781 0.12 0.00 0.00 0.000 6 0.288 0.000 1957 1504 3862 0 0 0 0 0 0 14.88 28.83 28.83

5079 -0.83 -146.0 596.9 -10.7 303 5080 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 1504 3861 0 0 0 0 0 0 28.83 28.83 28.83

5137 end dive: TARGET_DEPTH_EXCEEDED

state 5137 begin apogee

5140 -0.18 0.0 602.6 -9.9 305 5299 0.70 0.00 147.02 1.931 6 0.219 0.000 2162 1504 3271 0 0 0 0 1 0 14.89 28.83 13.29

5300 end apogee: CONTROL_FINISHED_OK

state 5300 begin climb

5301 0.80 146.0 605.2 0.0 310 5475 1.00 2.05 157.62 2.010 4 0.107 0.112 2494 444 2677 0 0 0 0 1 0 14.23 14.09 13.36

5701 0.66 146.0 583.2 11.7 323 5707 0.22 1.80 0.00 0.000 6 0.296 0.067 2444 1503 2676 0 0 0 0 0 0 14.57 14.72 28.83

6015 0.67 212.1 556.8 6.9 334 6105 0.00 1.98 77.12 1.785 4 0.000 0.111 2450 439 2408 0 0 0 0 1 0 28.83 14.27 13.57

6186 0.64 239.8 543.9 8.7 339 6237 0.00 1.83 39.05 1.368 6 0.000 0.066 2450 1499 2293 0 0 0 0 1 0 28.83 14.59 13.68

6559 0.60 239.8 501.0 11.9 352 6565 0.00 1.80 0.00 0.000 4 0.000 0.076 2456 2563 2292 0 0 0 0 0 0 28.83 14.81 28.83

6615 0.56 239.8 497.0 12.1 353 6623 0.20 1.85 0.00 0.000 6 0.287 0.091 2413 1501 2292 0 0 0 0 0 0 14.71 14.81 28.83

6922 0.59 264.0 464.1 8.9 364 6966 0.00 1.98 34.65 1.265 4 0.000 0.115 2419 443 2196 0 0 0 0 1 0 28.83 14.62 13.94

7028 0.64 303.3 456.5 8.2 367 7092 0.00 1.80 51.25 1.480 6 0.000 0.066 2419 1501 2034 0 0 0 0 1 0 28.83 14.73 13.70

7404 0.66 303.3 418.6 11.1 380 7410 0.00 1.80 0.00 0.000 4 0.000 0.076 2419 2560 2033 0 0 0 0 0 0 28.83 14.80 28.83

7461 0.67 303.3 414.7 11.4 381 7467 0.00 1.85 0.00 0.000 6 0.000 0.093 2426 1501 2032 0 0 0 0 0 0 28.83 14.78 28.83

7766 0.67 303.3 369.8 14.0 392 7771 0.00 1.88 0.00 0.000 4 0.000 0.114 2435 443 2031 0 0 0 0 0 0 28.83 14.85 28.83

7831 0.67 303.3 360.7 14.4 394 7837 0.00 1.80 0.00 0.000 6 0.000 0.067 2435 1497 2030 0 0 0 0 0 0 28.83 14.90 28.83

8159 0.67 303.3 321.3 10.8 405 8164 0.00 1.77 0.00 0.000 4 0.000 0.077 2435 2565 2029 0 0 0 0 0 0 28.83 14.93 28.83

8244 0.67 303.3 315.1 10.2 407 8251 0.00 1.85 0.00 0.000 6 0.000 0.093 2442 1500 2029 0 0 0 0 0 0 28.83 14.92 28.83

8550 0.67 303.3 279.6 11.4 418 8555 0.00 1.88 0.00 0.000 4 0.000 0.115 2451 438 2027 0 0 0 0 0 0 28.83 14.91 28.83

8596 0.67 303.3 275.6 11.8 419 8601 0.00 1.80 0.00 0.000 6 0.000 0.067 2451 1509 2029 0 0 0 0 0 0 28.83 14.96 28.83

8903 0.66 303.3 231.7 14.2 437 8908 0.00 1.75 0.00 0.000 4 0.000 0.075 2451 2562 2029 0 0 0 0 0 0 28.83 14.94 28.83

8945 0.66 303.3 225.9 13.7 441 8950 0.00 1.88 0.00 0.000 6 0.000 0.092 2459 1476 2029 0 0 0 0 0 0 28.83 14.92 28.83

9257 0.63 303.3 187.7 12.2 472 9258 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1479 2029 0 0 0 0 0 0 28.83 28.83 28.83

9558 0.61 303.3 144.2 16.0 502 9560 0.15 0.00 0.00 0.000 6 0.297 0.000 2426 1476 2029 0 0 0 0 0 0 14.81 28.83 28.83

9858 0.63 310.2 109.0 9.7 532 9867 0.00 0.00 4.60 0.795 6 0.000 0.000 2426 1476 2007 0 0 0 0 0 0 28.83 28.83 14.64

10167 0.72 361.6 82.0 7.6 563 10220 0.12 1.92 46.97 0.815 4 0.154 0.075 2473 2562 1794 0 0 0 0 0 0 14.90 14.69 14.31

10312 0.72 361.6 65.9 11.8 577 10317 0.00 1.88 0.00 0.000 6 0.000 0.092 2481 1497 1788 0 0 0 0 0 0 28.83 14.73 28.83

10623 0.72 361.6 27.1 12.4 608 10628 0.00 1.83 0.00 0.000 4 0.000 0.076 2477 2566 1785 0 0 0 0 0 0 28.83 14.81 28.83

10695 0.72 361.6 18.6 12.0 615 10701 0.00 1.85 0.00 0.000 6 0.000 0.090 2489 1501 1786 0 0 0 0 0 0 28.83 14.81 28.83

10826 end climb: SURFACE_DEPTH_REACHED

state 10826 begin surface coast

10837 end surface coast: CONTROL_FINISHED_OK

state 10837 begin surface

ID	191	HEADING	-1	ROLL_DEG	30	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING	0	C_ROLL_DIVE	1500	ALTIM_PULSE	3
DIVE	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1500	ALTIM_SENSITIVITY	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	600	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	16	INT_PRESSURE_YINT	2.7
D_ABORT	700	SM_CC	350	R_STBD_OVSHOOT	24	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	100	FILEMGR	0	ROLL_MAXERRORS	2	MOTHERBOARD	4
T_BOOST	2	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	9	VBD_MIN	500	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	3270	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	3
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	53
T_DIVE	200	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	67
T_MISSION	240	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE3	-1
T_ABORT	720	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	97
T_TURN_SAMPINT	5	T_GPS	5	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-3660.675	AH0_24V	350	RAFOS_DEVICE	-1
USE_BATHY	0	T_RSLEEP	2	AH0_10V	0	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	12	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	12	SIM_PITCH	0
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043008043
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.0006204489
RELAUNCH	1	PITCH_MIN	165	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2177979e-05
APOGEE_PITCH	-5	PITCH_MAX	3912	PRESSURE_YINT	-46.410744	SEABIRD_T_J	2.3040141e-06
MAX_BUOY	150	C_PITCH	2230	PRESSURE_SLOPE	0.0001171456	SEABIRD_C_G	-9.8990955
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.13379
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00086898328
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00011426309
RHO	1.0275	PITCH_GAIN	28	COMPASS_USE	4	SC_RECORDABOVE	2000.0
MASS	55001	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	0.015	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	0	TM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	312	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
HD_C	9.9999997e-06	ROLL_MAX	3859	ALTIM_PING_DELTA	0	TM_XMITRAW	0.0

GPS1	170912,041721,2435.528,-3802.875,28,1.2,35,-14.0	TGT_NAME	midS
_CALLS	1	TGT_LATLONG	2356.000,-3802.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-43.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170912,042830,2435.519,-3802.742,15,0.9,17,-14.0	MHEAD_RNG_PITCHd_Wd	221.8,73199,-17.5,-10.000,-21.06
SPEED_LIMITS	0.173,0.260	D_GRID	600

FINISH	-0.3,1.024608	_24V_AH	13.3,7.500
SM_CCo	10912,0.00,0.000,0,0,1784,364.27	_10V_AH	13.3,0.000
SM_GC	-0.11,6.65,0.00,0.00,0.068,0.000,0.000,159,1500,1784,-6.42,0.03,364.27,0,0,0,0,0,0,14.86,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2427.58,-3803.31,170912,010117	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	345200
HUMID	50.03	DATA_FILE_SIZE	23409,629
INTERNAL_PRESSURE	9.37018	CAP_FILE_SIZE	139141,0
TCM_TEMP	26.30	CFSIZE	260034560,257822720
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
SC_FREEKB	7768096	CURRENT	0.075,111.4,1
TM_FREEKB	7871360	GPS	170912,073204,2433.906,-3803.029,38,0.8,38,-14.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	411	100.31	nil	0	0	0.00
Roll_motor	59	114	90.08	nil	0	0	0.00
VBD_pump_during_apogee	558	2009	14922.47	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	10852	14	2073.03
Iridium_during_xfer	414	183	1012.40	TMICL	4212	12	724.67
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.95
TT8	1885	9	242.52
LPSleep	7011	2	204.21
TT8_Active	579	8	68.70
TT8_Sampling	2033	29	788.03
TT8_CF8	76	35	36.61
TT8_Kalman	0	0	0.00
Analog_circuits	1805	15	379.48
GPS_charging	0	0	0.00
Compass	1401	6	125.61
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
19	-0.80	-146.0	0.0	0.0	0	95	0.00	0.00	-72.62	0.000	2	0.000	0.000	159	1501	3711	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.80	-146.0	4.0	-8.4	7	114	8.77	1.77	-2.67	0.000	4	0.412	0.096	1957	2560	3865	0	0	0	0	0	0	14.52	14.73	14.95
201	-0.75	-146.0	28.7	-17.4	17	207	0.12	1.85	0.00	0.000	6	0.285	0.085	1983	1494	3868	0	0	0	0	0	0	14.67	14.77	28.83
514	-0.72	-146.0	72.3	-10.6	48	515	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	1494	3870	0	0	0	0	0	0	28.83	28.83	28.83
815	-0.70	-146.0	108.0	-11.5	78	816	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	1494	3870	0	0	0	0	0	0	28.83	28.83	28.83
1114	-0.70	-146.0	144.4	-12.5	108	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	1982	1494	3871	0	0	0	0	0	0	28.83	28.83	28.83
1414	-0.70	-146.0	182.7	-12.6	138	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	1983	1494	3871	0	0	0	0	0	0	28.83	28.83	28.83
1714	-0.70	-146.0	214.1	-9.7	168	1719	0.00	1.85	0.00	0.000	4	0.000	0.108	1983	434	3870	0	0	0	0	0	0	28.83	14.88	28.83
1829	-0.70	-146.0	225.9	-10.8	179	1836	0.00	1.83	0.00	0.000	6	0.000	0.066	1977	1506	3871	0	0	0	0	0	0	28.83	14.88	28.83
2156	-0.70	-146.0	261.4	-11.6	206	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	1502	3871	0	0	0	0	0	0	28.83	28.83	28.83
2456	-0.70	-146.0	300.0	-13.3	216	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	1502	3871	0	0	0	0	0	0	28.83	28.83	28.83
2756	-0.70	-146.0	337.3	-11.9	226	2758	0.00	0.00	0.00	0.000	6	0.000	0.000	1977	1502	3871	0	0	0	0	0	0	28.83	28.83	28.83
3056	-0.70	-146.0	369.7	-10.3	236	3061	0.00	1.88	0.00	0.000	4	0.000	0.110	1977	441	3870	0	0	0	0	0	0	28.83	14.96	28.83
3088	-0.70	-146.0	373.0	-10.3	237	3094	0.12	1.77	0.00	0.000	6	0.273	0.068	1996	1503	3870	0	0	0	0	0	0	14.89	15.00	28.83
3422	-0.74	-146.0	402.1	-9.3	248	3427	0.00	1.88	0.00	0.000	4	0.000	0.111	1996	443	3868	0	0	0	0	0	0	28.83	14.97	28.83
3473	-0.77	-146.0	405.4	-9.5	249	3478	0.00	1.77	0.00	0.000	6	0.000	0.070	1991	1501	3868	0	0	0	0	0	0	28.83	15.00	28.83
3785	-0.80	-146.0	440.4	-10.2	260	3787	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	1502	3866	0	0	0	0	0	0	28.83	28.83	28.83
4086	-0.83	-146.0	469.2	-9.6	270	4087	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	1502	3865	0	0	0	0	0	0	28.83	28.83	28.83
4385	-0.86	-146.0	504.0	-12.3	280	4391	0.12	1.85	0.00	0.000	4	0.145	0.109	1939	443	3864	0	0	0	0	0	0	15.02	14.97	28.83
4462	-0.86	-146.0	513.8	-14.0	282	4467	0.00	1.77	0.00	0.000	6	0.000	0.070	1931	1503	3864	0	0	0	0	0	0	28.83	15.01	28.83
4779	-0.83	-146.0	562.7	-14.1	293	4781	0.12	0.00	0.00	0.000	6	0.288	0.000	1957	1504	3862	0	0	0	0	0	0	14.88	28.83	28.83
5079	-0.83	-146.0	596.9	-10.7	303	5080	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	1504	3861	0	0	0	0	0	0	28.83	28.83	28.83
5137	end dive: TARGET_DEPTH_EXCEEDED
state	5137	begin apogee
5140	-0.18	0.0	602.6	-9.9	305	5299	0.70	0.00	147.02	1.931	6	0.219	0.000	2162	1504	3271	0	0	0	0	1	0	14.89	28.83	13.29
5300	end apogee: CONTROL_FINISHED_OK
state	5300	begin climb
5301	0.80	146.0	605.2	0.0	310	5475	1.00	2.05	157.62	2.010	4	0.107	0.112	2494	444	2677	0	0	0	0	1	0	14.23	14.09	13.36
5701	0.66	146.0	583.2	11.7	323	5707	0.22	1.80	0.00	0.000	6	0.296	0.067	2444	1503	2676	0	0	0	0	0	0	14.57	14.72	28.83
6015	0.67	212.1	556.8	6.9	334	6105	0.00	1.98	77.12	1.785	4	0.000	0.111	2450	439	2408	0	0	0	0	1	0	28.83	14.27	13.57
6186	0.64	239.8	543.9	8.7	339	6237	0.00	1.83	39.05	1.368	6	0.000	0.066	2450	1499	2293	0	0	0	0	1	0	28.83	14.59	13.68
6559	0.60	239.8	501.0	11.9	352	6565	0.00	1.80	0.00	0.000	4	0.000	0.076	2456	2563	2292	0	0	0	0	0	0	28.83	14.81	28.83
6615	0.56	239.8	497.0	12.1	353	6623	0.20	1.85	0.00	0.000	6	0.287	0.091	2413	1501	2292	0	0	0	0	0	0	14.71	14.81	28.83
6922	0.59	264.0	464.1	8.9	364	6966	0.00	1.98	34.65	1.265	4	0.000	0.115	2419	443	2196	0	0	0	0	1	0	28.83	14.62	13.94
7028	0.64	303.3	456.5	8.2	367	7092	0.00	1.80	51.25	1.480	6	0.000	0.066	2419	1501	2034	0	0	0	0	1	0	28.83	14.73	13.70
7404	0.66	303.3	418.6	11.1	380	7410	0.00	1.80	0.00	0.000	4	0.000	0.076	2419	2560	2033	0	0	0	0	0	0	28.83	14.80	28.83
7461	0.67	303.3	414.7	11.4	381	7467	0.00	1.85	0.00	0.000	6	0.000	0.093	2426	1501	2032	0	0	0	0	0	0	28.83	14.78	28.83
7766	0.67	303.3	369.8	14.0	392	7771	0.00	1.88	0.00	0.000	4	0.000	0.114	2435	443	2031	0	0	0	0	0	0	28.83	14.85	28.83
7831	0.67	303.3	360.7	14.4	394	7837	0.00	1.80	0.00	0.000	6	0.000	0.067	2435	1497	2030	0	0	0	0	0	0	28.83	14.90	28.83
8159	0.67	303.3	321.3	10.8	405	8164	0.00	1.77	0.00	0.000	4	0.000	0.077	2435	2565	2029	0	0	0	0	0	0	28.83	14.93	28.83
8244	0.67	303.3	315.1	10.2	407	8251	0.00	1.85	0.00	0.000	6	0.000	0.093	2442	1500	2029	0	0	0	0	0	0	28.83	14.92	28.83
8550	0.67	303.3	279.6	11.4	418	8555	0.00	1.88	0.00	0.000	4	0.000	0.115	2451	438	2027	0	0	0	0	0	0	28.83	14.91	28.83
8596	0.67	303.3	275.6	11.8	419	8601	0.00	1.80	0.00	0.000	6	0.000	0.067	2451	1509	2029	0	0	0	0	0	0	28.83	14.96	28.83
8903	0.66	303.3	231.7	14.2	437	8908	0.00	1.75	0.00	0.000	4	0.000	0.075	2451	2562	2029	0	0	0	0	0	0	28.83	14.94	28.83
8945	0.66	303.3	225.9	13.7	441	8950	0.00	1.88	0.00	0.000	6	0.000	0.092	2459	1476	2029	0	0	0	0	0	0	28.83	14.92	28.83
9257	0.63	303.3	187.7	12.2	472	9258	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1479	2029	0	0	0	0	0	0	28.83	28.83	28.83
9558	0.61	303.3	144.2	16.0	502	9560	0.15	0.00	0.00	0.000	6	0.297	0.000	2426	1476	2029	0	0	0	0	0	0	14.81	28.83	28.83
9858	0.63	310.2	109.0	9.7	532	9867	0.00	0.00	4.60	0.795	6	0.000	0.000	2426	1476	2007	0	0	0	0	0	0	28.83	28.83	14.64
10167	0.72	361.6	82.0	7.6	563	10220	0.12	1.92	46.97	0.815	4	0.154	0.075	2473	2562	1794	0	0	0	0	0	0	14.90	14.69	14.31
10312	0.72	361.6	65.9	11.8	577	10317	0.00	1.88	0.00	0.000	6	0.000	0.092	2481	1497	1788	0	0	0	0	0	0	28.83	14.73	28.83
10623	0.72	361.6	27.1	12.4	608	10628	0.00	1.83	0.00	0.000	4	0.000	0.076	2477	2566	1785	0	0	0	0	0	0	28.83	14.81	28.83
10695	0.72	361.6	18.6	12.0	615	10701	0.00	1.85	0.00	0.000	6	0.000	0.090	2489	1501	1786	0	0	0	0	0	0	28.83	14.81	28.83
10826	end climb: SURFACE_DEPTH_REACHED
state	10826	begin surface coast
10837	end surface coast: CONTROL_FINISHED_OK
state	10837	begin surface