Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 590 * 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 590 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 37 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 -122335.05 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 -122335.05

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 590 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 220813,151212,2446.559,-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 2.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220813,151212,2446.559,-3726.874,241,99.0,241,-14.9 MHEAD_RNG_PITCHd_Wd 308.4,63572,-30.8,-7.500,-40.00,1453

SPEED_LIMITS 0.089,0.128 D_GRID 540

Post-dive calculations and measurements:

FINISH 2.9,1.025012 _10V_AH 13.5,0.000

SM_CCo 9541,161.32,0.073,0,0,189,465.09 FG_AHR_24Vo 0.000

SM_GC 3.21,10.65,0.15,161.32,0.058,0.089,0.073,133,1958,189,-9.78,-0.65,465.09,0,0,0,0,0,0,14.45,14.45,14.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2444.18,-3728.76,220813,191904 MEM 344812

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16808,457

HUMID 80.47 CAP_FILE_SIZE 125540,0

INTERNAL_PRESSURE 9.49642 CFSIZE 260034560,178618368

TCM_TEMP 22.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 9.451, 35.0,1

SC_FREEKB 3794048 GPS 220813,194204,2444.184,-3728.759,0,10000.0,0,-14.9

_24V_AH 13.4,214.138

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 363 138.04 nil 0 0 0.00

Roll_motor 90 94 115.04 nil 0 0 0.00

VBD_pump_during_apogee 291 1530 5969.67 nil 0 0 0.00

VBD_pump_during_surface 161 72 157.11 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 9532 5 671.09

Iridium_during_xfer 465 198 1241.74 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 243 21 71.44

TT8 1880 9 234.08

LPSleep 5737 2 169.62

TT8_Active 548 9 68.32

TT8_Sampling 2203 27 831.22

TT8_CF8 875 32 383.20

TT8_Kalman 0 0 0.00

Analog_circuits 1810 17 415.58

GPS_charging 0 0 0.00

Compass 1467 5 99.06

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

23 -1.61 -72.9 130 1974 219 164 0.0 0.0 0 102 0.00 0.00 -76.62 0.000 16386 0.000 0.000 130 1974 1996 1995 1998 0 0 0 0 0 0 28.83 28.83 28.83

108 -1.68 -146.0 130 1974 1996 1998 3.1 -0.5 5 150 12.93 2.45 -21.05 0.000 18692 0.363 0.095 2747 2980 2683 2697 2670 0 0 0 0 0 0 14.04 14.33 14.89

337 -1.57 -146.0 2747 2981 2697 2670 39.7 -19.6 19 345 0.20 2.38 0.00 0.000 3078 0.305 0.048 2785 1954 2684 2698 2670 0 0 0 0 0 0 13.85 14.40 28.83

644 -1.51 -146.0 2784 1955 2698 2670 90.6 -14.2 40 649 0.00 2.45 0.00 0.000 516 0.000 0.061 2785 885 2683 2697 2670 0 0 0 0 0 0 28.83 14.27 28.83

882 -1.44 -146.0 1728 884 2636 2661 121.2 -13.0 55 888 0.25 2.33 0.00 0.000 3078 0.293 0.044 2829 1917 2683 2698 2669 0 0 0 0 0 0 13.83 14.43 28.83

1198 -1.41 -146.0 2829 1917 2698 2668 162.7 -12.6 76 1203 0.00 2.55 0.00 0.000 260 0.000 0.073 2819 3005 2682 2697 2668 0 0 0 0 0 0 28.83 14.35 28.83

1312 -1.37 -146.0 2819 3005 2698 2668 177.0 -12.8 83 1319 0.15 2.55 0.00 0.000 3078 0.291 0.046 2847 1893 2683 2697 2669 0 0 0 0 0 0 13.95 14.45 28.83

1635 -1.37 -146.0 2847 1894 2698 2668 212.7 -11.0 104 1640 0.00 2.30 0.00 0.000 516 0.000 0.060 2848 886 2683 2698 2668 0 0 0 0 0 0 28.83 14.38 28.83

1872 -1.35 -146.0 2848 886 2698 2668 238.8 -11.5 119 1878 0.00 2.25 0.00 0.000 1030 0.000 0.044 2846 1884 2683 2699 2667 0 0 0 0 0 0 28.83 14.42 28.83

2190 -1.35 -146.0 2846 1884 2698 2666 276.6 -12.0 133 2196 0.00 2.30 0.00 0.000 516 0.000 0.055 2846 882 2682 2698 2666 0 0 0 0 0 0 28.83 14.39 28.83

2428 -1.33 -146.0 2845 882 2697 2664 304.9 -12.9 140 2434 0.00 2.20 0.00 0.000 1030 0.000 0.045 2844 1863 2681 2698 2664 0 0 0 0 0 0 28.83 14.42 28.83

2745 -1.33 -146.0 2844 1858 2698 2662 344.5 -11.3 151 2750 0.00 2.25 0.00 0.000 516 0.000 0.054 2844 885 2680 2698 2662 0 0 0 0 0 0 28.83 14.38 28.83

2981 -1.31 -146.0 2845 885 2698 2661 366.7 -10.0 158 2987 0.00 2.15 0.00 0.000 1030 0.000 0.044 2844 1841 2678 2697 2660 0 0 0 0 0 0 28.83 14.42 28.83

3298 -1.31 -146.0 2844 1840 2698 2658 399.2 -10.4 169 3304 0.00 2.20 0.00 0.000 516 0.000 0.054 2844 879 2677 2697 2658 0 0 0 0 0 0 28.83 14.38 28.83

3536 -1.31 -146.0 2844 879 2702 2656 424.8 -11.7 176 3541 0.00 2.12 0.00 0.000 1030 0.000 0.044 2843 1824 2675 2698 2652 0 0 0 0 0 0 28.83 14.42 28.83

3851 -1.31 -146.0 2843 1823 2697 2654 466.7 -12.8 187 3856 0.00 2.15 0.00 0.000 516 0.000 0.054 2844 885 2675 2697 2654 0 0 0 0 0 0 28.83 14.36 28.83

4088 -1.31 -146.0 2844 885 2697 2652 495.6 -13.1 194 4093 0.00 2.05 0.00 0.000 1030 0.000 0.043 2843 1799 2674 2697 2651 0 0 0 0 0 0 28.83 14.41 28.83

4404 -1.31 -146.0 2844 1798 2697 2649 538.4 -12.8 205 4410 0.00 2.10 0.00 0.000 516 0.000 0.053 2843 880 2673 2697 2649 0 0 0 0 0 0 28.83 14.38 28.83

4436 end dive: TARGET_DEPTH_EXCEEDED

state 4436 begin apogee

4447 -0.25 0.0 2843 1805 2697 2649 543.1 -12.8 206 4627 1.48 0.00 172.45 1.310 10244 0.238 0.000 3207 1805 2083 2141 2025 0 0 0 0 0 0 13.69 28.83 13.40

4628 end apogee: CONTROL_FINISHED_OK

state 4628 begin climb

4632 1.68 146.0 3207 1805 2138 2023 552.0 0.0 212 4765 1.95 2.53 118.72 1.530 10500 0.096 0.073 3832 2855 1484 1506 1463 0 0 0 0 0 0 14.30 14.32 13.36

4998 1.57 146.0 3832 2855 1481 1461 504.3 17.0 224 5004 0.17 2.45 0.00 0.000 5126 0.330 0.051 3804 1790 1471 1481 1461 0 0 0 0 0 0 14.07 14.53 28.83

5329 1.50 146.0 3802 1791 1480 1460 452.3 15.5 235 5334 0.00 2.53 0.00 0.000 260 0.000 0.063 3803 2860 1469 1479 1460 0 0 0 0 0 0 28.83 14.47 28.83

5486 1.41 146.0 3803 2859 1477 1460 425.2 16.9 240 5492 0.28 2.45 0.00 0.000 5126 0.312 0.050 3753 1802 1469 1478 1460 0 0 0 0 0 0 13.95 14.50 28.83

5826 1.36 146.0 3752 1803 1478 1458 378.3 13.3 251 5831 0.00 2.50 0.00 0.000 260 0.000 0.062 3753 2855 1467 1478 1457 0 0 0 0 0 0 28.83 14.44 28.83

5924 1.31 146.0 3753 2855 1477 1457 364.3 13.8 254 5930 0.17 2.42 0.00 0.000 5126 0.308 0.050 3721 1816 1466 1476 1457 0 0 0 0 0 0 13.95 14.49 28.83

6261 1.29 146.0 3721 1817 1476 1456 321.9 12.7 265 6266 0.00 2.47 0.00 0.000 260 0.000 0.061 3721 2854 1466 1476 1456 0 0 0 0 0 0 28.83 14.40 28.83

6317 1.27 146.0 3721 2855 1476 1456 316.9 13.0 266 6322 0.00 2.42 0.00 0.000 1030 0.000 0.050 3726 1813 1466 1476 1456 0 0 0 0 0 0 28.83 14.46 28.83

6635 1.25 146.0 3726 1815 1477 1456 275.5 12.0 277 6637 0.00 0.00 0.00 0.000 6 0.000 0.000 3725 1815 1466 1477 1456 0 0 0 0 0 0 28.83 28.83 28.83

6934 1.22 146.0 3726 1815 1477 1449 241.1 11.3 289 6940 0.12 2.53 0.00 0.000 4356 0.317 0.060 3698 2861 1465 1476 1455 0 0 0 0 0 0 13.89 14.35 28.83

6970 1.20 146.0 3698 2866 1476 1454 236.7 11.6 291 6976 0.00 2.45 0.00 0.000 1030 0.000 0.050 3700 1818 1465 1476 1454 0 0 0 0 0 0 28.83 14.42 28.83

7291 1.20 146.0 3699 1819 1476 1454 202.5 10.3 312 7298 0.00 2.50 0.00 0.000 260 0.000 0.063 3699 2855 1464 1476 1453 0 0 0 0 0 0 28.83 14.24 28.83

7468 1.19 146.0 2952 2850 1444 1449 183.8 10.7 323 7473 0.00 2.40 0.00 0.000 1030 0.000 0.050 3699 1833 1464 1475 1453 0 0 0 0 0 0 28.83 14.38 28.83

7783 1.19 146.0 3699 1834 1475 1453 150.3 11.2 344 7789 0.00 2.47 0.00 0.000 260 0.000 0.061 3699 2862 1464 1476 1453 0 0 0 0 0 0 28.83 14.31 28.83

7916 1.17 146.0 3700 2862 1475 1453 134.1 12.9 352 7922 0.00 2.38 0.00 0.000 1030 0.000 0.049 3699 1845 1464 1475 1453 0 0 0 0 0 0 28.83 14.36 28.83

8232 1.17 146.0 3699 1846 1475 1453 99.0 9.9 373 8238 0.00 2.58 0.00 0.000 516 0.000 0.067 3699 744 1464 1476 1453 0 0 0 0 0 0 28.83 14.27 28.83

8321 1.17 146.0 3700 743 1476 1453 91.4 9.3 378 8329 0.00 2.47 0.00 0.000 1030 0.000 0.038 3699 1848 1464 1476 1452 0 0 0 0 0 0 28.83 14.26 28.83

8629 1.19 149.4 3700 1847 1476 1453 65.5 7.3 399 8634 0.00 2.40 0.00 0.000 260 0.000 0.066 3700 2858 1464 1476 1452 0 0 0 0 0 0 28.83 14.28 28.83

8805 1.19 149.4 3700 2857 1475 1452 49.8 9.6 410 8811 0.00 2.28 0.00 0.000 1030 0.000 0.047 3699 1885 1464 1476 1452 0 0 0 0 0 0 28.83 14.33 28.83

9122 1.21 149.8 3700 1886 1476 1452 23.8 7.5 431 9127 0.00 2.65 0.00 0.000 516 0.000 0.065 3699 741 1464 1476 1452 0 0 0 0 0 0 28.83 14.23 28.83

9153 1.23 149.8 3699 741 1476 1452 21.6 8.2 432 9160 0.00 2.58 0.00 0.000 1030 0.000 0.040 3699 1879 1463 1475 1452 0 0 0 0 0 0 28.83 14.35 28.83

9392 end climb: SURFACE_DEPTH_REACHED

state 9392 begin surface coast

9513 end surface coast: NO_VERTICAL_VELOCITY

state 9514 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	590	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	37	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	-122335.05	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	220813,151212,2446.559,-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	2.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220813,151212,2446.559,-3726.874,241,99.0,241,-14.9	MHEAD_RNG_PITCHd_Wd	308.4,63572,-30.8,-7.500,-40.00,1453
SPEED_LIMITS	0.089,0.128	D_GRID	540

FINISH	2.9,1.025012	_10V_AH	13.5,0.000
SM_CCo	9541,161.32,0.073,0,0,189,465.09	FG_AHR_24Vo	0.000
SM_GC	3.21,10.65,0.15,161.32,0.058,0.089,0.073,133,1958,189,-9.78,-0.65,465.09,0,0,0,0,0,0,14.45,14.45,14.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2444.18,-3728.76,220813,191904	MEM	344812
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16808,457
HUMID	80.47	CAP_FILE_SIZE	125540,0
INTERNAL_PRESSURE	9.49642	CFSIZE	260034560,178618368
TCM_TEMP	22.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	9.451, 35.0,1
SC_FREEKB	3794048	GPS	220813,194204,2444.184,-3728.759,0,10000.0,0,-14.9
_24V_AH	13.4,214.138

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	363	138.04	nil	0	0	0.00
Roll_motor	90	94	115.04	nil	0	0	0.00
VBD_pump_during_apogee	291	1530	5969.67	nil	0	0	0.00
VBD_pump_during_surface	161	72	157.11	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	9532	5	671.09
Iridium_during_xfer	465	198	1241.74	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	243	21	71.44
TT8	1880	9	234.08
LPSleep	5737	2	169.62
TT8_Active	548	9	68.32
TT8_Sampling	2203	27	831.22
TT8_CF8	875	32	383.20
TT8_Kalman	0	0	0.00
Analog_circuits	1810	17	415.58
GPS_charging	0	0	0.00
Compass	1467	5	99.06
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
23	-1.61	-72.9	130	1974	219	164	0.0	0.0	0	102	0.00	0.00	-76.62	0.000	16386	0.000	0.000	130	1974	1996	1995	1998	0	0	0	0	0	0	28.83	28.83	28.83
108	-1.68	-146.0	130	1974	1996	1998	3.1	-0.5	5	150	12.93	2.45	-21.05	0.000	18692	0.363	0.095	2747	2980	2683	2697	2670	0	0	0	0	0	0	14.04	14.33	14.89
337	-1.57	-146.0	2747	2981	2697	2670	39.7	-19.6	19	345	0.20	2.38	0.00	0.000	3078	0.305	0.048	2785	1954	2684	2698	2670	0	0	0	0	0	0	13.85	14.40	28.83
644	-1.51	-146.0	2784	1955	2698	2670	90.6	-14.2	40	649	0.00	2.45	0.00	0.000	516	0.000	0.061	2785	885	2683	2697	2670	0	0	0	0	0	0	28.83	14.27	28.83
882	-1.44	-146.0	1728	884	2636	2661	121.2	-13.0	55	888	0.25	2.33	0.00	0.000	3078	0.293	0.044	2829	1917	2683	2698	2669	0	0	0	0	0	0	13.83	14.43	28.83
1198	-1.41	-146.0	2829	1917	2698	2668	162.7	-12.6	76	1203	0.00	2.55	0.00	0.000	260	0.000	0.073	2819	3005	2682	2697	2668	0	0	0	0	0	0	28.83	14.35	28.83
1312	-1.37	-146.0	2819	3005	2698	2668	177.0	-12.8	83	1319	0.15	2.55	0.00	0.000	3078	0.291	0.046	2847	1893	2683	2697	2669	0	0	0	0	0	0	13.95	14.45	28.83
1635	-1.37	-146.0	2847	1894	2698	2668	212.7	-11.0	104	1640	0.00	2.30	0.00	0.000	516	0.000	0.060	2848	886	2683	2698	2668	0	0	0	0	0	0	28.83	14.38	28.83
1872	-1.35	-146.0	2848	886	2698	2668	238.8	-11.5	119	1878	0.00	2.25	0.00	0.000	1030	0.000	0.044	2846	1884	2683	2699	2667	0	0	0	0	0	0	28.83	14.42	28.83
2190	-1.35	-146.0	2846	1884	2698	2666	276.6	-12.0	133	2196	0.00	2.30	0.00	0.000	516	0.000	0.055	2846	882	2682	2698	2666	0	0	0	0	0	0	28.83	14.39	28.83
2428	-1.33	-146.0	2845	882	2697	2664	304.9	-12.9	140	2434	0.00	2.20	0.00	0.000	1030	0.000	0.045	2844	1863	2681	2698	2664	0	0	0	0	0	0	28.83	14.42	28.83
2745	-1.33	-146.0	2844	1858	2698	2662	344.5	-11.3	151	2750	0.00	2.25	0.00	0.000	516	0.000	0.054	2844	885	2680	2698	2662	0	0	0	0	0	0	28.83	14.38	28.83
2981	-1.31	-146.0	2845	885	2698	2661	366.7	-10.0	158	2987	0.00	2.15	0.00	0.000	1030	0.000	0.044	2844	1841	2678	2697	2660	0	0	0	0	0	0	28.83	14.42	28.83
3298	-1.31	-146.0	2844	1840	2698	2658	399.2	-10.4	169	3304	0.00	2.20	0.00	0.000	516	0.000	0.054	2844	879	2677	2697	2658	0	0	0	0	0	0	28.83	14.38	28.83
3536	-1.31	-146.0	2844	879	2702	2656	424.8	-11.7	176	3541	0.00	2.12	0.00	0.000	1030	0.000	0.044	2843	1824	2675	2698	2652	0	0	0	0	0	0	28.83	14.42	28.83
3851	-1.31	-146.0	2843	1823	2697	2654	466.7	-12.8	187	3856	0.00	2.15	0.00	0.000	516	0.000	0.054	2844	885	2675	2697	2654	0	0	0	0	0	0	28.83	14.36	28.83
4088	-1.31	-146.0	2844	885	2697	2652	495.6	-13.1	194	4093	0.00	2.05	0.00	0.000	1030	0.000	0.043	2843	1799	2674	2697	2651	0	0	0	0	0	0	28.83	14.41	28.83
4404	-1.31	-146.0	2844	1798	2697	2649	538.4	-12.8	205	4410	0.00	2.10	0.00	0.000	516	0.000	0.053	2843	880	2673	2697	2649	0	0	0	0	0	0	28.83	14.38	28.83
4436	end dive: TARGET_DEPTH_EXCEEDED
state	4436	begin apogee
4447	-0.25	0.0	2843	1805	2697	2649	543.1	-12.8	206	4627	1.48	0.00	172.45	1.310	10244	0.238	0.000	3207	1805	2083	2141	2025	0	0	0	0	0	0	13.69	28.83	13.40
4628	end apogee: CONTROL_FINISHED_OK
state	4628	begin climb
4632	1.68	146.0	3207	1805	2138	2023	552.0	0.0	212	4765	1.95	2.53	118.72	1.530	10500	0.096	0.073	3832	2855	1484	1506	1463	0	0	0	0	0	0	14.30	14.32	13.36
4998	1.57	146.0	3832	2855	1481	1461	504.3	17.0	224	5004	0.17	2.45	0.00	0.000	5126	0.330	0.051	3804	1790	1471	1481	1461	0	0	0	0	0	0	14.07	14.53	28.83
5329	1.50	146.0	3802	1791	1480	1460	452.3	15.5	235	5334	0.00	2.53	0.00	0.000	260	0.000	0.063	3803	2860	1469	1479	1460	0	0	0	0	0	0	28.83	14.47	28.83
5486	1.41	146.0	3803	2859	1477	1460	425.2	16.9	240	5492	0.28	2.45	0.00	0.000	5126	0.312	0.050	3753	1802	1469	1478	1460	0	0	0	0	0	0	13.95	14.50	28.83
5826	1.36	146.0	3752	1803	1478	1458	378.3	13.3	251	5831	0.00	2.50	0.00	0.000	260	0.000	0.062	3753	2855	1467	1478	1457	0	0	0	0	0	0	28.83	14.44	28.83
5924	1.31	146.0	3753	2855	1477	1457	364.3	13.8	254	5930	0.17	2.42	0.00	0.000	5126	0.308	0.050	3721	1816	1466	1476	1457	0	0	0	0	0	0	13.95	14.49	28.83
6261	1.29	146.0	3721	1817	1476	1456	321.9	12.7	265	6266	0.00	2.47	0.00	0.000	260	0.000	0.061	3721	2854	1466	1476	1456	0	0	0	0	0	0	28.83	14.40	28.83
6317	1.27	146.0	3721	2855	1476	1456	316.9	13.0	266	6322	0.00	2.42	0.00	0.000	1030	0.000	0.050	3726	1813	1466	1476	1456	0	0	0	0	0	0	28.83	14.46	28.83
6635	1.25	146.0	3726	1815	1477	1456	275.5	12.0	277	6637	0.00	0.00	0.00	0.000	6	0.000	0.000	3725	1815	1466	1477	1456	0	0	0	0	0	0	28.83	28.83	28.83
6934	1.22	146.0	3726	1815	1477	1449	241.1	11.3	289	6940	0.12	2.53	0.00	0.000	4356	0.317	0.060	3698	2861	1465	1476	1455	0	0	0	0	0	0	13.89	14.35	28.83
6970	1.20	146.0	3698	2866	1476	1454	236.7	11.6	291	6976	0.00	2.45	0.00	0.000	1030	0.000	0.050	3700	1818	1465	1476	1454	0	0	0	0	0	0	28.83	14.42	28.83
7291	1.20	146.0	3699	1819	1476	1454	202.5	10.3	312	7298	0.00	2.50	0.00	0.000	260	0.000	0.063	3699	2855	1464	1476	1453	0	0	0	0	0	0	28.83	14.24	28.83
7468	1.19	146.0	2952	2850	1444	1449	183.8	10.7	323	7473	0.00	2.40	0.00	0.000	1030	0.000	0.050	3699	1833	1464	1475	1453	0	0	0	0	0	0	28.83	14.38	28.83
7783	1.19	146.0	3699	1834	1475	1453	150.3	11.2	344	7789	0.00	2.47	0.00	0.000	260	0.000	0.061	3699	2862	1464	1476	1453	0	0	0	0	0	0	28.83	14.31	28.83
7916	1.17	146.0	3700	2862	1475	1453	134.1	12.9	352	7922	0.00	2.38	0.00	0.000	1030	0.000	0.049	3699	1845	1464	1475	1453	0	0	0	0	0	0	28.83	14.36	28.83
8232	1.17	146.0	3699	1846	1475	1453	99.0	9.9	373	8238	0.00	2.58	0.00	0.000	516	0.000	0.067	3699	744	1464	1476	1453	0	0	0	0	0	0	28.83	14.27	28.83
8321	1.17	146.0	3700	743	1476	1453	91.4	9.3	378	8329	0.00	2.47	0.00	0.000	1030	0.000	0.038	3699	1848	1464	1476	1452	0	0	0	0	0	0	28.83	14.26	28.83
8629	1.19	149.4	3700	1847	1476	1453	65.5	7.3	399	8634	0.00	2.40	0.00	0.000	260	0.000	0.066	3700	2858	1464	1476	1452	0	0	0	0	0	0	28.83	14.28	28.83
8805	1.19	149.4	3700	2857	1475	1452	49.8	9.6	410	8811	0.00	2.28	0.00	0.000	1030	0.000	0.047	3699	1885	1464	1476	1452	0	0	0	0	0	0	28.83	14.33	28.83
9122	1.21	149.8	3700	1886	1476	1452	23.8	7.5	431	9127	0.00	2.65	0.00	0.000	516	0.000	0.065	3699	741	1464	1476	1452	0	0	0	0	0	0	28.83	14.23	28.83
9153	1.23	149.8	3699	741	1476	1452	21.6	8.2	432	9160	0.00	2.58	0.00	0.000	1030	0.000	0.040	3699	1879	1463	1475	1452	0	0	0	0	0	0	28.83	14.35	28.83
9392	end climb: SURFACE_DEPTH_REACHED
state	9392	begin surface coast
9513	end surface coast: NO_VERTICAL_VELOCITY
state	9514	begin surface