Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 587 * 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 587 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 28 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 -120864.1 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 -120864.1

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 34 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 587 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 220813,043833,2444.184,-3726.874,0,10000.0,0,-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 2.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220813,043833,2444.184,-3726.874,241,99.0,241,-14.9 MHEAD_RNG_PITCHd_Wd 312.2,62098,-30.8,-7.500,-40.00,1453

SPEED_LIMITS 0.089,0.128 D_GRID 540

Post-dive calculations and measurements:

FREEZE 3.16,26.095,-1.034,0,110,0 _10V_AH 13.2,0.000

SM_CCo 9530,161.35,0.075,0,0,189,465.09 FG_AHR_24Vo 0.000

SM_GC 3.45,10.57,0.15,161.35,0.053,0.106,0.075,143,1954,189,-9.79,-0.79,465.09,0,0,0,0,0,0,14.33,14.40,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2444.18,-3730.20,220813,080846 MEM 344748

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16793,453

HUMID 80.87 CAP_FILE_SIZE 130739,0

INTERNAL_PRESSURE 9.49642 CFSIZE 260034560,178675712

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 5.139, 94.1,1

SC_FREEKB 3795200 GPS 220813,080646,2444.184,-3730.205,0,10000.0,0,-14.9

_24V_AH 13.4,213.323

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 368 140.45 nil 0 0 0.00

Roll_motor 85 105 120.99 nil 0 0 0.00

VBD_pump_during_apogee 289 1530 5944.96 nil 0 0 0.00

VBD_pump_during_surface 161 74 162.09 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 9513 5 664.27

Iridium_during_xfer 983 200 2642.05 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 247 21 71.06

TT8 1887 9 229.69

LPSleep 5712 2 165.15

TT8_Active 544 9 66.31

TT8_Sampling 2660 27 981.30

TT8_CF8 1089 32 466.39

TT8_Kalman 0 0 0.00

Analog_circuits 2328 17 522.52

GPS_charging 0 0 0.00

Compass 1491 5 98.41

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -1.61 -72.9 140 1953 222 167 0.0 0.0 0 118 0.00 0.00 -90.62 0.000 16390 0.000 0.000 140 1952 2383 2350 2417 0 0 0 0 0 0 28.83 28.83 14.82

124 -1.68 -146.0 140 1955 2353 2417 3.7 -1.7 6 150 13.07 2.45 -6.47 0.000 18692 0.369 0.087 2735 3000 2682 2689 2676 0 0 0 0 0 0 14.00 14.50 14.87

272 -1.57 -146.0 1696 2996 2630 2667 33.1 -19.6 15 278 0.25 2.33 0.00 0.000 3078 0.307 0.031 2784 1958 2682 2689 2676 0 0 0 0 0 0 13.92 14.54 28.83

588 -1.50 -146.0 2784 1959 2691 2674 87.9 -15.5 36 594 0.00 2.42 0.00 0.000 516 0.000 0.062 2784 884 2682 2691 2673 0 0 0 0 0 0 28.83 14.45 28.83

826 -1.44 -146.0 2784 884 2691 2673 122.1 -14.3 51 832 0.22 2.33 0.00 0.000 3078 0.297 0.043 2824 1925 2681 2691 2672 0 0 0 0 0 0 13.90 14.47 28.83

1143 -1.40 -146.0 2824 1924 2691 2672 159.3 -10.5 72 1149 0.00 2.35 0.00 0.000 516 0.000 0.054 2825 891 2681 2691 2671 0 0 0 0 0 0 28.83 14.45 28.83

1380 -1.37 -146.0 1760 890 2630 2662 186.0 -12.5 87 1386 0.15 2.28 0.00 0.000 3078 0.289 0.044 2848 1909 2680 2691 2670 0 0 0 0 0 0 14.02 14.45 28.83

1697 -1.37 -146.0 2848 1914 2691 2670 227.1 -12.9 108 1703 0.00 2.33 0.00 0.000 516 0.000 0.056 2848 888 2680 2691 2670 0 0 0 0 0 0 28.83 14.44 28.83

1935 -1.35 -146.0 2848 889 2691 2669 254.2 -12.0 121 1941 0.00 2.25 0.00 0.000 1030 0.000 0.047 2848 1882 2679 2691 2668 0 0 0 0 0 0 28.83 14.47 28.83

2250 -1.35 -146.0 2848 1882 2691 2667 295.7 -12.7 132 2256 0.00 2.28 0.00 0.000 516 0.000 0.057 2848 890 2677 2691 2663 0 0 0 0 0 0 28.83 14.43 28.83

2488 -1.34 -146.0 2848 890 2691 2666 323.7 -12.6 139 2494 0.00 2.20 0.00 0.000 1030 0.000 0.048 2848 1865 2678 2692 2665 0 0 0 0 0 0 28.83 14.43 28.83

2804 -1.34 -146.0 2848 1864 2692 2664 362.8 -11.6 150 2810 0.00 2.72 0.00 0.000 260 0.000 0.078 2848 3006 2677 2691 2664 0 0 0 0 0 0 28.83 14.33 28.83

2934 -1.34 -146.0 2848 3006 2691 2663 377.6 -11.8 154 2940 0.00 2.67 0.00 0.000 1030 0.000 0.043 2848 1838 2677 2691 2663 0 0 0 0 0 0 28.83 14.47 28.83

3273 -1.34 -146.0 2848 1839 2691 2661 417.3 -11.9 165 3279 0.00 2.15 0.00 0.000 516 0.000 0.063 2848 889 2675 2691 2660 0 0 0 0 0 0 28.83 14.35 28.83

3511 -1.34 -146.0 2848 889 2691 2659 444.2 -12.3 172 3516 0.00 2.10 0.00 0.000 1030 0.000 0.047 2848 1818 2674 2691 2658 0 0 0 0 0 0 28.83 14.42 28.83

3827 -1.34 -146.0 2848 1817 2691 2655 482.7 -11.3 183 3832 0.00 2.12 0.00 0.000 516 0.000 0.054 2848 885 2673 2692 2655 0 0 0 0 0 0 28.83 14.42 28.83

4064 -1.34 -146.0 2848 885 2691 2654 507.7 -11.3 190 4070 0.00 2.08 0.00 0.000 1030 0.000 0.046 2847 1796 2672 2691 2654 0 0 0 0 0 0 28.83 14.40 28.83

4345 end dive: TARGET_DEPTH_EXCEEDED

state 4346 begin apogee

4354 -0.25 0.0 2847 1794 2691 2651 542.0 -11.3 200 4533 1.45 0.00 169.70 1.312 10244 0.236 0.000 3206 1794 2084 2140 2028 0 0 0 0 0 0 13.65 28.83 13.41

4534 end apogee: CONTROL_FINISHED_OK

state 4535 begin climb

4539 1.68 146.0 3206 1795 2138 2026 547.9 0.0 206 4671 2.00 2.47 120.12 1.531 10756 0.115 0.057 3827 739 1486 1537 1436 0 0 0 0 0 0 14.28 14.36 13.38

4844 1.60 146.0 3296 738 1483 1432 508.7 16.2 216 4849 0.00 2.38 0.00 0.000 1030 0.000 0.041 3827 1803 1475 1515 1435 0 0 0 0 0 0 28.83 14.54 28.83

5179 1.51 146.0 3827 1802 1512 1434 457.9 14.9 227 5185 0.17 2.45 0.00 0.000 4356 0.319 0.063 3789 2859 1472 1511 1433 0 0 0 0 0 0 13.98 14.52 28.83

5417 1.43 146.0 3789 2859 1502 1433 425.8 14.3 234 5423 0.17 2.38 0.00 0.000 5126 0.320 0.047 3761 1826 1467 1502 1433 0 0 0 0 0 0 14.00 14.54 28.83

5736 1.38 146.0 3761 1827 1503 1433 382.5 13.0 245 5741 0.00 2.45 0.00 0.000 260 0.000 0.060 3761 2863 1466 1501 1432 0 0 0 0 0 0 28.83 14.48 28.83

5884 1.32 146.0 3761 2862 1498 1433 364.4 14.2 249 5890 0.22 2.40 0.00 0.000 5126 0.304 0.048 3723 1827 1463 1494 1433 0 0 0 0 0 0 13.92 14.47 28.83

6203 1.29 146.0 3723 1823 1497 1433 322.3 11.8 260 6208 0.00 2.47 0.00 0.000 260 0.000 0.060 3723 2863 1465 1499 1432 0 0 0 0 0 0 28.83 14.43 28.83

6293 1.26 146.0 3723 2863 1496 1440 314.0 11.8 262 6301 0.00 2.42 0.00 0.000 1030 0.000 0.047 3726 1817 1464 1496 1432 0 0 0 0 0 0 28.83 14.45 28.83

6601 1.24 146.0 3725 1818 1496 1433 278.1 10.6 273 6607 0.12 2.47 0.00 0.000 4356 0.318 0.055 3698 2857 1464 1496 1432 0 0 0 0 0 0 13.98 14.35 28.83

6688 1.21 146.0 3698 2857 1496 1432 270.4 10.9 275 6693 0.00 2.35 0.00 0.000 1030 0.000 0.046 3699 1837 1463 1495 1432 0 0 0 0 0 0 28.83 14.42 28.83

7004 1.21 146.0 3699 1838 1496 1432 236.2 10.0 290 7009 0.00 2.53 0.00 0.000 516 0.000 0.064 3699 745 1463 1495 1431 0 0 0 0 0 0 28.83 14.36 28.83

7039 1.21 146.0 3699 745 1496 1431 232.5 10.1 292 7044 0.00 2.47 0.00 0.000 1030 0.000 0.039 3699 1841 1465 1496 1434 0 0 0 0 0 0 28.83 14.32 28.83

7360 1.21 146.0 3699 1838 1496 1431 199.5 10.6 313 7367 0.00 2.40 0.00 0.000 260 0.000 0.064 3699 2858 1463 1495 1431 0 0 0 0 0 0 28.83 14.34 28.83

7517 1.19 146.0 3699 2858 1495 1431 180.0 12.7 323 7523 0.00 2.35 0.00 0.000 1030 0.000 0.047 3699 1853 1462 1494 1431 0 0 0 0 0 0 28.83 14.35 28.83

7838 1.19 146.0 3699 1854 1495 1431 142.4 11.2 344 7843 0.00 2.58 0.00 0.000 516 0.000 0.066 3700 744 1463 1496 1431 0 0 0 0 0 0 28.83 14.31 28.83

7937 1.19 146.0 3700 745 1495 1431 131.8 11.0 350 7944 0.00 2.47 0.00 0.000 1030 0.000 0.039 3699 1847 1463 1495 1431 0 0 0 0 0 0 28.83 14.40 28.83

8253 1.19 146.0 3700 1846 1495 1431 99.5 8.6 371 8258 0.00 2.38 0.00 0.000 260 0.000 0.063 3700 2859 1463 1495 1431 0 0 0 0 0 0 28.83 14.31 28.83

8490 1.19 146.0 2976 2855 1462 1427 76.8 9.9 386 8497 0.00 2.30 0.00 0.000 1030 0.000 0.045 3700 1874 1462 1494 1431 0 0 0 0 0 0 28.83 14.35 28.83

8807 1.21 146.0 3700 1876 1494 1431 47.7 8.1 407 8812 0.00 2.35 0.00 0.000 260 0.000 0.060 3700 2857 1462 1494 1431 0 0 0 0 0 0 28.83 14.30 28.83

8887 1.21 146.0 3700 2857 1494 1431 40.6 8.5 412 8892 0.00 2.25 0.00 0.000 1030 0.000 0.047 3700 1891 1462 1494 1431 0 0 0 0 0 0 28.83 14.35 28.83

9207 1.23 146.0 3699 1892 1494 1431 13.5 8.8 433 9208 0.00 0.00 0.00 0.000 6 0.000 0.000 3699 1890 1462 1494 1431 0 0 0 0 0 0 28.83 28.83 28.83

9504 end climb: NO_VERTICAL_VELOCITY

state 9504 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	587	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	28	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	-120864.1	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	220813,043833,2444.184,-3726.874,0,10000.0,0,-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	2.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220813,043833,2444.184,-3726.874,241,99.0,241,-14.9	MHEAD_RNG_PITCHd_Wd	312.2,62098,-30.8,-7.500,-40.00,1453
SPEED_LIMITS	0.089,0.128	D_GRID	540

FREEZE	3.16,26.095,-1.034,0,110,0	_10V_AH	13.2,0.000
SM_CCo	9530,161.35,0.075,0,0,189,465.09	FG_AHR_24Vo	0.000
SM_GC	3.45,10.57,0.15,161.35,0.053,0.106,0.075,143,1954,189,-9.79,-0.79,465.09,0,0,0,0,0,0,14.33,14.40,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2444.18,-3730.20,220813,080846	MEM	344748
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16793,453
HUMID	80.87	CAP_FILE_SIZE	130739,0
INTERNAL_PRESSURE	9.49642	CFSIZE	260034560,178675712
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	5.139, 94.1,1
SC_FREEKB	3795200	GPS	220813,080646,2444.184,-3730.205,0,10000.0,0,-14.9
_24V_AH	13.4,213.323

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	368	140.45	nil	0	0	0.00
Roll_motor	85	105	120.99	nil	0	0	0.00
VBD_pump_during_apogee	289	1530	5944.96	nil	0	0	0.00
VBD_pump_during_surface	161	74	162.09	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	9513	5	664.27
Iridium_during_xfer	983	200	2642.05	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	247	21	71.06
TT8	1887	9	229.69
LPSleep	5712	2	165.15
TT8_Active	544	9	66.31
TT8_Sampling	2660	27	981.30
TT8_CF8	1089	32	466.39
TT8_Kalman	0	0	0.00
Analog_circuits	2328	17	522.52
GPS_charging	0	0	0.00
Compass	1491	5	98.41
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-1.61	-72.9	140	1953	222	167	0.0	0.0	0	118	0.00	0.00	-90.62	0.000	16390	0.000	0.000	140	1952	2383	2350	2417	0	0	0	0	0	0	28.83	28.83	14.82
124	-1.68	-146.0	140	1955	2353	2417	3.7	-1.7	6	150	13.07	2.45	-6.47	0.000	18692	0.369	0.087	2735	3000	2682	2689	2676	0	0	0	0	0	0	14.00	14.50	14.87
272	-1.57	-146.0	1696	2996	2630	2667	33.1	-19.6	15	278	0.25	2.33	0.00	0.000	3078	0.307	0.031	2784	1958	2682	2689	2676	0	0	0	0	0	0	13.92	14.54	28.83
588	-1.50	-146.0	2784	1959	2691	2674	87.9	-15.5	36	594	0.00	2.42	0.00	0.000	516	0.000	0.062	2784	884	2682	2691	2673	0	0	0	0	0	0	28.83	14.45	28.83
826	-1.44	-146.0	2784	884	2691	2673	122.1	-14.3	51	832	0.22	2.33	0.00	0.000	3078	0.297	0.043	2824	1925	2681	2691	2672	0	0	0	0	0	0	13.90	14.47	28.83
1143	-1.40	-146.0	2824	1924	2691	2672	159.3	-10.5	72	1149	0.00	2.35	0.00	0.000	516	0.000	0.054	2825	891	2681	2691	2671	0	0	0	0	0	0	28.83	14.45	28.83
1380	-1.37	-146.0	1760	890	2630	2662	186.0	-12.5	87	1386	0.15	2.28	0.00	0.000	3078	0.289	0.044	2848	1909	2680	2691	2670	0	0	0	0	0	0	14.02	14.45	28.83
1697	-1.37	-146.0	2848	1914	2691	2670	227.1	-12.9	108	1703	0.00	2.33	0.00	0.000	516	0.000	0.056	2848	888	2680	2691	2670	0	0	0	0	0	0	28.83	14.44	28.83
1935	-1.35	-146.0	2848	889	2691	2669	254.2	-12.0	121	1941	0.00	2.25	0.00	0.000	1030	0.000	0.047	2848	1882	2679	2691	2668	0	0	0	0	0	0	28.83	14.47	28.83
2250	-1.35	-146.0	2848	1882	2691	2667	295.7	-12.7	132	2256	0.00	2.28	0.00	0.000	516	0.000	0.057	2848	890	2677	2691	2663	0	0	0	0	0	0	28.83	14.43	28.83
2488	-1.34	-146.0	2848	890	2691	2666	323.7	-12.6	139	2494	0.00	2.20	0.00	0.000	1030	0.000	0.048	2848	1865	2678	2692	2665	0	0	0	0	0	0	28.83	14.43	28.83
2804	-1.34	-146.0	2848	1864	2692	2664	362.8	-11.6	150	2810	0.00	2.72	0.00	0.000	260	0.000	0.078	2848	3006	2677	2691	2664	0	0	0	0	0	0	28.83	14.33	28.83
2934	-1.34	-146.0	2848	3006	2691	2663	377.6	-11.8	154	2940	0.00	2.67	0.00	0.000	1030	0.000	0.043	2848	1838	2677	2691	2663	0	0	0	0	0	0	28.83	14.47	28.83
3273	-1.34	-146.0	2848	1839	2691	2661	417.3	-11.9	165	3279	0.00	2.15	0.00	0.000	516	0.000	0.063	2848	889	2675	2691	2660	0	0	0	0	0	0	28.83	14.35	28.83
3511	-1.34	-146.0	2848	889	2691	2659	444.2	-12.3	172	3516	0.00	2.10	0.00	0.000	1030	0.000	0.047	2848	1818	2674	2691	2658	0	0	0	0	0	0	28.83	14.42	28.83
3827	-1.34	-146.0	2848	1817	2691	2655	482.7	-11.3	183	3832	0.00	2.12	0.00	0.000	516	0.000	0.054	2848	885	2673	2692	2655	0	0	0	0	0	0	28.83	14.42	28.83
4064	-1.34	-146.0	2848	885	2691	2654	507.7	-11.3	190	4070	0.00	2.08	0.00	0.000	1030	0.000	0.046	2847	1796	2672	2691	2654	0	0	0	0	0	0	28.83	14.40	28.83
4345	end dive: TARGET_DEPTH_EXCEEDED
state	4346	begin apogee
4354	-0.25	0.0	2847	1794	2691	2651	542.0	-11.3	200	4533	1.45	0.00	169.70	1.312	10244	0.236	0.000	3206	1794	2084	2140	2028	0	0	0	0	0	0	13.65	28.83	13.41
4534	end apogee: CONTROL_FINISHED_OK
state	4535	begin climb
4539	1.68	146.0	3206	1795	2138	2026	547.9	0.0	206	4671	2.00	2.47	120.12	1.531	10756	0.115	0.057	3827	739	1486	1537	1436	0	0	0	0	0	0	14.28	14.36	13.38
4844	1.60	146.0	3296	738	1483	1432	508.7	16.2	216	4849	0.00	2.38	0.00	0.000	1030	0.000	0.041	3827	1803	1475	1515	1435	0	0	0	0	0	0	28.83	14.54	28.83
5179	1.51	146.0	3827	1802	1512	1434	457.9	14.9	227	5185	0.17	2.45	0.00	0.000	4356	0.319	0.063	3789	2859	1472	1511	1433	0	0	0	0	0	0	13.98	14.52	28.83
5417	1.43	146.0	3789	2859	1502	1433	425.8	14.3	234	5423	0.17	2.38	0.00	0.000	5126	0.320	0.047	3761	1826	1467	1502	1433	0	0	0	0	0	0	14.00	14.54	28.83
5736	1.38	146.0	3761	1827	1503	1433	382.5	13.0	245	5741	0.00	2.45	0.00	0.000	260	0.000	0.060	3761	2863	1466	1501	1432	0	0	0	0	0	0	28.83	14.48	28.83
5884	1.32	146.0	3761	2862	1498	1433	364.4	14.2	249	5890	0.22	2.40	0.00	0.000	5126	0.304	0.048	3723	1827	1463	1494	1433	0	0	0	0	0	0	13.92	14.47	28.83
6203	1.29	146.0	3723	1823	1497	1433	322.3	11.8	260	6208	0.00	2.47	0.00	0.000	260	0.000	0.060	3723	2863	1465	1499	1432	0	0	0	0	0	0	28.83	14.43	28.83
6293	1.26	146.0	3723	2863	1496	1440	314.0	11.8	262	6301	0.00	2.42	0.00	0.000	1030	0.000	0.047	3726	1817	1464	1496	1432	0	0	0	0	0	0	28.83	14.45	28.83
6601	1.24	146.0	3725	1818	1496	1433	278.1	10.6	273	6607	0.12	2.47	0.00	0.000	4356	0.318	0.055	3698	2857	1464	1496	1432	0	0	0	0	0	0	13.98	14.35	28.83
6688	1.21	146.0	3698	2857	1496	1432	270.4	10.9	275	6693	0.00	2.35	0.00	0.000	1030	0.000	0.046	3699	1837	1463	1495	1432	0	0	0	0	0	0	28.83	14.42	28.83
7004	1.21	146.0	3699	1838	1496	1432	236.2	10.0	290	7009	0.00	2.53	0.00	0.000	516	0.000	0.064	3699	745	1463	1495	1431	0	0	0	0	0	0	28.83	14.36	28.83
7039	1.21	146.0	3699	745	1496	1431	232.5	10.1	292	7044	0.00	2.47	0.00	0.000	1030	0.000	0.039	3699	1841	1465	1496	1434	0	0	0	0	0	0	28.83	14.32	28.83
7360	1.21	146.0	3699	1838	1496	1431	199.5	10.6	313	7367	0.00	2.40	0.00	0.000	260	0.000	0.064	3699	2858	1463	1495	1431	0	0	0	0	0	0	28.83	14.34	28.83
7517	1.19	146.0	3699	2858	1495	1431	180.0	12.7	323	7523	0.00	2.35	0.00	0.000	1030	0.000	0.047	3699	1853	1462	1494	1431	0	0	0	0	0	0	28.83	14.35	28.83
7838	1.19	146.0	3699	1854	1495	1431	142.4	11.2	344	7843	0.00	2.58	0.00	0.000	516	0.000	0.066	3700	744	1463	1496	1431	0	0	0	0	0	0	28.83	14.31	28.83
7937	1.19	146.0	3700	745	1495	1431	131.8	11.0	350	7944	0.00	2.47	0.00	0.000	1030	0.000	0.039	3699	1847	1463	1495	1431	0	0	0	0	0	0	28.83	14.40	28.83
8253	1.19	146.0	3700	1846	1495	1431	99.5	8.6	371	8258	0.00	2.38	0.00	0.000	260	0.000	0.063	3700	2859	1463	1495	1431	0	0	0	0	0	0	28.83	14.31	28.83
8490	1.19	146.0	2976	2855	1462	1427	76.8	9.9	386	8497	0.00	2.30	0.00	0.000	1030	0.000	0.045	3700	1874	1462	1494	1431	0	0	0	0	0	0	28.83	14.35	28.83
8807	1.21	146.0	3700	1876	1494	1431	47.7	8.1	407	8812	0.00	2.35	0.00	0.000	260	0.000	0.060	3700	2857	1462	1494	1431	0	0	0	0	0	0	28.83	14.30	28.83
8887	1.21	146.0	3700	2857	1494	1431	40.6	8.5	412	8892	0.00	2.25	0.00	0.000	1030	0.000	0.047	3700	1891	1462	1494	1431	0	0	0	0	0	0	28.83	14.35	28.83
9207	1.23	146.0	3699	1892	1494	1431	13.5	8.8	433	9208	0.00	0.00	0.00	0.000	6	0.000	0.000	3699	1890	1462	1494	1431	0	0	0	0	0	0	28.83	28.83	28.83
9504	end climb: NO_VERTICAL_VELOCITY
state	9504	begin surface