Glider dive log

MIRC Mar14 * SG204 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 HEADING -1 C_ROLL_CLIMB 2420 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 18 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 68 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 38 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1030 SM_CC 500 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2839 DEVICE1 2

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00145 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 330 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_MISSION 360 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 20 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 1 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -2 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

D_OFFGRID 1030 PITCH_MIN 210 MINV_24V 22.5 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3900 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 3290 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043959874

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063999143

MAX_BUOY 180 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.6240119e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_J 3.2438568e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.8023682

SPEED_FACTOR 1 PITCH_GAIN 29 PRESSURE_YINT -71.557899 SEABIRD_C_H 1.1326066

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001157966 SEABIRD_C_I -0.0012119424

MASS 52154 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00017415492

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

HD_A 0.003 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063999143

AH0_10V 97 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.6240119e-05

AH0_24V 150 D_TGT 990 PA_POWERSOURCE 0.0 SEABIRD_T_J 3.2438568e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PHONE_SUPPLY -2 SM_CC 500

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 9.9999997e-06 PITCH_MIN 210 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.00145 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 330

CF8_MAXERRORS 20 ID 204 PRESSURE_SLOPE 0.0001157966 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -71.557899 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_MISSION 360

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 3290 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2420 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2600 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52154 RELAUNCH 1 UNCOM_BLEED 50

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 USE_BATHY -2

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 180 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 22.5 ROLL_DEG 40 VBD_DBAND 2

DEVICE5 -1 MISSION 15 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 18 NAV_MODE 2 ROLL_MIN 236 VBD_MIN 500

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 68 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 4 R_STBD_OVSHOOT 38 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 SEABIRD_C_G -9.8023682 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 2 SEABIRD_C_H 1.1326066 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.0012119424 XPDR_INHIBIT 90

D_OFFGRID 1030 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00017415492 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043959874

Pre-dive calculations and measurements:

GPS1 030315,202737,1307.6377,14444.9160,41,0.8,41,1.1,0.8,344.6,9,29.7 SPEED_LIMITS 0.173,0.282

_CALLS 1 TGT_NAME N1

_XMS_NAKs 0 TGT_LATLONG 1309.000,14448.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.46 MHEAD_RNG_PITCHd_Wd 55.4,6217,-15.8,-10.000,-19.55,2669

_SM_ANGLEo -67.5 D_GRID 879

GPS2 030315,203141,1307.6207,14444.8574,6,0.8,6,1.1,0.0,0.0,10,14.5

Post-dive calculations and measurements:

FINISH 0.5,1.017147 FG_AHR_24Vo 0.000

SM_CCo 9401,19.42,0.118,0,0,799,500.17 FG_AHR_10Vo 0.000

SM_GC 1.20,9.85,0.28,19.42,0.085,0.058,0.118,196,2610,799,-9.60,-0.93,500.17,0,0,0,0,0,0,26.99,27.03,26.78 MEM 229068

IRIDIUM_FIX 1300.95,14447.05,291207,095448 DATA_FILE_SIZE 23469,542

TT8_MAMPS 0.053179,0.053179 CAP_FILE_SIZE 92091,0

HUMID 40.78 CFSIZE 1024393216,1016201216

INTERNAL_PRESSURE 9.25268 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 24.50 INTR 0,11635.76,0x236db2,7,5

XPDR_PINGS 0 CURRENT 0.127,216.06,1

_24V_AH 24.51,4.085 GPS 030315,230924,1307.965,14445.601,18,0.9,18,1.1,0.0,0.0,9,21.7

_10V_AH 10.36,3.396

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 236 137.02 SBE_CT 361 23 205.95

Roll_motor 72 58 102.85 nil 0 0 0.00

VBD_pump_during_apogee 483 1118 13263.64 nil 0 0 0.00

VBD_pump_during_surface 19 117 56.09 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 PAAM 0 0 0.00

Iridium_during_xfer 195 79 382.11 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 26 2.00

TT8 0 0 0.00

LPSleep 7270 2 164.97

TT8_Active 599 18 116.24

TT8_Sampling 1746 44 812.99

TT8_CF8 43 61 27.37

TT8_Kalman 0 0 0.00

Analog_circuits 1496 15 232.49

GPS_charging 0 0 0.00

Compass 1227 8 104.80

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.80 -175.2 195 2609 814 793 0.0 0.0 0 68 0.00 0.00 -53.72 0.000 16386 0.000 0.000 194 2607 2266 2219 2313 0 0 0 0 0 0 26.85 28.83 26.92

69 -0.80 -175.2 195 2608 2224 2311 3.2 -5.4 9 116 11.60 2.10 -27.15 0.000 19204 0.236 0.046 3034 1208 3556 3526 3586 0 0 0 0 0 0 26.25 25.43 26.56

140 -0.80 -175.2 3034 1208 3529 3586 20.8 -27.8 22 148 0.00 2.12 0.00 0.000 1030 0.000 0.032 3025 2605 3557 3527 3587 0 0 0 0 0 0 26.70 26.66 26.72

446 -0.80 -175.2 3025 2606 3530 3587 106.4 -26.6 62 447 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2606 3558 3529 3587 0 0 0 0 0 0 27.05 27.12 27.10

746 -0.80 -175.2 3026 2607 3532 3591 170.2 -20.9 92 750 0.00 1.65 0.00 0.000 260 0.000 0.046 3017 3691 3560 3532 3589 0 0 0 0 0 0 27.15 26.89 27.20

781 -0.80 -175.2 3017 3692 3532 3591 175.8 -18.7 95 788 0.00 1.58 0.00 0.000 1030 0.000 0.023 3019 2584 3560 3531 3590 0 0 0 0 0 0 27.02 26.98 27.03

1096 -0.80 -175.2 3019 2584 3535 3593 227.4 -14.5 115 1100 0.00 1.70 0.00 0.000 260 0.000 0.047 3012 3693 3563 3534 3593 0 0 0 0 0 0 27.21 26.95 27.27

1221 -0.80 -175.2 3011 3693 3536 3594 243.9 -13.7 119 1225 0.00 1.55 0.00 0.000 1030 0.000 0.024 3018 2598 3564 3534 3594 0 0 0 0 0 0 27.10 27.06 27.11

1546 -0.80 -175.2 3018 2597 3536 3594 287.2 -12.9 130 1551 0.00 2.00 0.00 0.000 516 0.000 0.028 3025 1224 3564 3535 3594 0 0 0 0 0 0 27.27 27.05 27.33

1566 -0.80 -175.2 3025 1225 3536 3596 287.2 -12.9 130 1570 0.00 2.05 0.00 0.000 1030 0.000 0.032 3015 2599 3564 3535 3594 0 0 0 0 0 0 27.07 27.03 27.09

1876 -0.80 -175.2 3016 2601 3536 3595 322.8 -10.1 141 1880 0.00 1.65 0.00 0.000 260 0.000 0.045 3007 3692 3564 3534 3594 0 0 0 0 0 0 27.29 27.03 27.36

1901 -0.80 -175.2 3007 3694 3535 3595 322.8 -10.1 141 1908 0.00 1.55 0.00 0.000 1030 0.000 0.024 3009 2601 3564 3535 3593 0 0 0 0 0 0 27.17 27.13 27.17

2206 -0.80 -175.2 3009 2601 3536 3591 356.4 -10.2 152 2210 0.00 1.65 0.00 0.000 260 0.000 0.045 3002 3691 3563 3535 3592 0 0 0 0 0 0 27.32 27.05 27.37

2231 -0.80 -175.2 3002 3692 3535 3593 356.4 -10.2 152 2238 0.00 1.55 0.00 0.000 1030 0.000 0.024 3005 2599 3562 3534 3591 0 0 0 0 0 0 27.18 27.15 27.20

2536 -0.80 -175.2 3005 2598 3536 3587 397.8 -13.5 163 2537 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2599 3561 3535 3587 0 0 0 0 0 0 27.33 27.40 27.39

2836 -0.80 -175.2 3005 2599 3535 3583 433.7 -11.2 173 2837 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2598 3558 3534 3583 0 0 0 0 0 0 27.34 27.41 27.40

3136 -0.80 -175.2 3005 2600 3531 3583 461.7 -8.6 183 3137 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2598 3556 3531 3581 0 0 0 0 0 0 27.34 27.42 27.41

3436 -0.80 -175.2 3005 2600 3528 3580 488.2 -8.7 193 3441 0.00 2.03 0.00 0.000 516 0.000 0.031 3010 1222 3553 3527 3579 0 0 0 0 0 0 27.36 27.13 27.42

3491 -0.80 -175.2 3010 1222 3527 3579 490.8 -8.7 194 3499 0.08 2.08 0.00 0.000 3078 0.187 0.034 3022 2602 3552 3526 3578 0 0 0 0 0 0 26.86 27.12 26.98

3796 -0.80 -175.2 3023 2603 3524 3577 513.8 -6.6 205 3800 0.00 1.65 0.00 0.000 260 0.000 0.047 3016 3689 3549 3523 3576 0 0 0 0 0 0 27.36 27.08 27.42

3826 -0.80 -175.2 3015 3691 3524 3577 516.1 -6.8 206 3831 0.00 1.58 0.00 0.000 1030 0.000 0.027 3022 2596 3549 3523 3575 0 0 0 0 0 0 27.22 27.18 27.24

4156 -0.80 -175.2 3022 2596 3522 3573 543.6 -9.0 217 4157 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2595 3547 3521 3573 0 0 0 0 0 0 27.36 27.44 27.43

4456 -0.80 -175.2 3022 2595 3519 3571 572.3 -9.6 227 4461 0.00 1.67 0.00 0.000 260 0.000 0.049 3015 3690 3544 3518 3571 0 0 0 0 0 0 27.37 27.08 27.43

4511 -0.80 -175.2 3015 3689 3519 3570 576.0 -10.3 228 4519 0.00 1.58 0.00 0.000 1030 0.000 0.028 3022 2600 3544 3518 3571 0 0 0 0 0 0 27.22 27.18 27.24

4816 -0.80 -175.2 3022 2599 3516 3569 624.6 -12.9 239 4820 0.00 2.03 0.00 0.000 516 0.000 0.031 3033 1221 3542 3515 3569 0 0 0 0 0 0 27.37 27.13 27.43

5046 -0.80 -175.2 3032 1223 3513 3569 624.9 -0.0 246 5050 0.00 2.08 0.00 0.000 1030 0.000 0.036 3022 2598 3540 3513 3568 0 0 0 0 0 0 27.15 27.13 27.19

5055 end dive: NO_VERTICAL_VELOCITY

state 5055 begin apogee

5058 -0.17 0.0 3023 2430 3514 3568 624.8 0.0 247 5194 0.70 0.00 133.20 1.118 10246 0.160 0.000 3229 2429 2839 2813 2865 0 0 0 0 0 0 26.88 25.28 24.64

5194 end apogee: CONTROL_FINISHED_OK

state 5194 begin climb

5195 0.80 175.2 3229 2429 2811 2861 624.8 0.0 251 5338 1.08 2.10 135.20 1.011 10500 0.156 0.057 3526 3689 2118 2116 2121 0 0 0 0 0 0 25.30 25.00 24.53

5561 1.16 427.5 3526 3691 2112 2111 624.2 0.3 264 5774 0.35 1.90 201.95 1.000 11270 0.098 0.027 3652 2414 1086 1108 1065 0 0 0 0 0 0 26.20 26.35 24.51

6071 1.16 427.5 3652 2413 1097 1048 529.7 20.7 281 6075 0.00 2.03 0.00 0.000 260 0.000 0.048 3643 3686 1072 1095 1049 0 0 0 0 0 0 26.59 26.35 26.65

6221 1.16 427.5 3643 3685 1092 1047 497.7 21.5 286 6226 0.00 1.88 0.00 0.000 1030 0.000 0.028 3652 2425 1069 1091 1048 0 0 0 0 0 0 26.61 26.59 26.63

6551 1.16 427.5 3651 2424 1093 1046 435.5 19.4 297 6556 0.00 2.12 0.00 0.000 516 0.000 0.035 3662 1022 1068 1091 1046 0 0 0 0 0 0 26.96 26.74 27.02

6586 1.16 427.5 3663 1022 1092 1046 429.8 19.4 298 6590 0.00 2.12 0.00 0.000 1030 0.000 0.034 3653 2413 1068 1091 1046 0 0 0 0 0 0 26.77 26.74 26.81

6911 1.16 427.5 3653 2413 1091 1044 362.7 20.9 309 6915 0.00 1.98 0.00 0.000 260 0.000 0.048 3643 3686 1067 1090 1044 0 0 0 0 0 0 27.07 26.82 27.14

6941 1.16 427.5 3642 3685 1090 1043 356.0 21.1 310 6946 0.00 1.88 0.00 0.000 1030 0.000 0.028 3650 2408 1066 1089 1043 0 0 0 0 0 0 26.92 26.90 26.94

7271 1.16 427.5 3652 2405 1090 1043 285.1 21.5 321 7276 0.00 2.00 0.00 0.000 260 0.000 0.048 3643 3690 1065 1088 1043 0 0 0 0 0 0 27.14 26.88 27.21

7346 1.16 427.5 3643 3691 1086 1045 272.4 21.0 323 7350 0.00 1.88 0.00 0.000 1030 0.000 0.028 3652 2419 1065 1087 1043 0 0 0 0 0 0 27.01 26.97 27.04

7661 1.16 427.5 3651 2415 1088 1043 215.8 15.2 334 7666 0.00 2.08 0.00 0.000 516 0.000 0.037 3662 1042 1065 1087 1043 0 0 0 0 0 0 27.20 26.96 27.27

7701 1.16 427.5 3662 1041 1089 1042 211.2 15.1 335 7706 0.00 2.08 0.00 0.000 1030 0.000 0.034 3653 2414 1065 1087 1043 0 0 0 0 0 0 26.99 26.96 27.03

8011 1.16 427.5 3653 2415 1087 1041 162.2 17.7 361 8015 0.00 1.98 0.00 0.000 260 0.000 0.047 3643 3698 1063 1086 1040 0 0 0 0 0 0 27.23 26.98 27.29

8196 1.16 427.5 3643 3698 1084 1039 133.9 11.8 379 8203 0.00 1.88 0.00 0.000 1030 0.000 0.027 3651 2420 1061 1083 1039 0 0 0 0 0 0 27.10 27.06 27.13

8501 1.19 447.2 3652 2421 1085 1039 106.1 9.2 410 8524 0.00 2.00 13.50 0.728 8452 0.000 0.045 3643 3698 1006 1030 983 0 0 0 0 0 0 27.27 26.73 26.08

8587 1.19 447.2 3643 3698 1026 980 96.1 12.9 418 8595 0.00 1.88 0.00 0.000 1030 0.000 0.026 3651 2418 1001 1025 978 0 0 0 0 0 0 26.94 26.91 26.96

8892 1.19 447.2 3652 2419 1026 980 57.2 11.0 449 8896 0.00 2.05 0.00 0.000 516 0.000 0.032 3662 1039 1001 1025 978 0 0 0 0 0 0 27.16 26.94 27.22

8917 1.19 447.2 3662 1039 1029 978 54.9 11.1 451 8924 0.00 2.08 0.00 0.000 1030 0.000 0.031 3653 2417 1002 1026 978 0 0 0 0 0 0 26.97 26.94 27.00

9222 1.19 447.2 3653 2418 1028 979 19.4 12.9 509 9223 0.00 0.00 0.00 0.000 6 0.000 0.000 3653 2417 1002 1027 978 0 0 0 0 0 0 27.22 27.29 27.28

9372 end climb: SURFACE_DEPTH_REACHED

state 9372 begin surface coast

9387 end surface coast: CONTROL_FINISHED_OK

state 9387 begin surface

ID	204	HEADING	-1	C_ROLL_CLIMB	2420	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	18	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	68	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1030	SM_CC	500	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2839	DEVICE1	2
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00145	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	330	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_MISSION	360	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	20	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	1	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-2	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
D_OFFGRID	1030	PITCH_MIN	210	MINV_24V	22.5	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3900	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	3290	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043959874
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063999143
MAX_BUOY	180	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.6240119e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_J	3.2438568e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8023682
SPEED_FACTOR	1	PITCH_GAIN	29	PRESSURE_YINT	-71.557899	SEABIRD_C_H	1.1326066
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001157966	SEABIRD_C_I	-0.0012119424
MASS	52154	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00017415492
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
HD_A	0.003	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0

GPS1	030315,202737,1307.6377,14444.9160,41,0.8,41,1.1,0.8,344.6,9,29.7	SPEED_LIMITS	0.173,0.282
_CALLS	1	TGT_NAME	N1
_XMS_NAKs	0	TGT_LATLONG	1309.000,14448.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.46	MHEAD_RNG_PITCHd_Wd	55.4,6217,-15.8,-10.000,-19.55,2669
_SM_ANGLEo	-67.5	D_GRID	879
GPS2	030315,203141,1307.6207,14444.8574,6,0.8,6,1.1,0.0,0.0,10,14.5

FINISH	0.5,1.017147	FG_AHR_24Vo	0.000
SM_CCo	9401,19.42,0.118,0,0,799,500.17	FG_AHR_10Vo	0.000
SM_GC	1.20,9.85,0.28,19.42,0.085,0.058,0.118,196,2610,799,-9.60,-0.93,500.17,0,0,0,0,0,0,26.99,27.03,26.78	MEM	229068
IRIDIUM_FIX	1300.95,14447.05,291207,095448	DATA_FILE_SIZE	23469,542
TT8_MAMPS	0.053179,0.053179	CAP_FILE_SIZE	92091,0
HUMID	40.78	CFSIZE	1024393216,1016201216
INTERNAL_PRESSURE	9.25268	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	24.50	INTR	0,11635.76,0x236db2,7,5
XPDR_PINGS	0	CURRENT	0.127,216.06,1
_24V_AH	24.51,4.085	GPS	030315,230924,1307.965,14445.601,18,0.9,18,1.1,0.0,0.0,9,21.7
_10V_AH	10.36,3.396

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	236	137.02	SBE_CT	361	23	205.95
Roll_motor	72	58	102.85	nil	0	0	0.00
VBD_pump_during_apogee	483	1118	13263.64	nil	0	0	0.00
VBD_pump_during_surface	19	117	56.09	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	PAAM	0	0	0.00
Iridium_during_xfer	195	79	382.11	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	26	2.00
TT8	0	0	0.00
LPSleep	7270	2	164.97
TT8_Active	599	18	116.24
TT8_Sampling	1746	44	812.99
TT8_CF8	43	61	27.37
TT8_Kalman	0	0	0.00
Analog_circuits	1496	15	232.49
GPS_charging	0	0	0.00
Compass	1227	8	104.80
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.80	-175.2	195	2609	814	793	0.0	0.0	0	68	0.00	0.00	-53.72	0.000	16386	0.000	0.000	194	2607	2266	2219	2313	0	0	0	0	0	0	26.85	28.83	26.92
69	-0.80	-175.2	195	2608	2224	2311	3.2	-5.4	9	116	11.60	2.10	-27.15	0.000	19204	0.236	0.046	3034	1208	3556	3526	3586	0	0	0	0	0	0	26.25	25.43	26.56
140	-0.80	-175.2	3034	1208	3529	3586	20.8	-27.8	22	148	0.00	2.12	0.00	0.000	1030	0.000	0.032	3025	2605	3557	3527	3587	0	0	0	0	0	0	26.70	26.66	26.72
446	-0.80	-175.2	3025	2606	3530	3587	106.4	-26.6	62	447	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2606	3558	3529	3587	0	0	0	0	0	0	27.05	27.12	27.10
746	-0.80	-175.2	3026	2607	3532	3591	170.2	-20.9	92	750	0.00	1.65	0.00	0.000	260	0.000	0.046	3017	3691	3560	3532	3589	0	0	0	0	0	0	27.15	26.89	27.20
781	-0.80	-175.2	3017	3692	3532	3591	175.8	-18.7	95	788	0.00	1.58	0.00	0.000	1030	0.000	0.023	3019	2584	3560	3531	3590	0	0	0	0	0	0	27.02	26.98	27.03
1096	-0.80	-175.2	3019	2584	3535	3593	227.4	-14.5	115	1100	0.00	1.70	0.00	0.000	260	0.000	0.047	3012	3693	3563	3534	3593	0	0	0	0	0	0	27.21	26.95	27.27
1221	-0.80	-175.2	3011	3693	3536	3594	243.9	-13.7	119	1225	0.00	1.55	0.00	0.000	1030	0.000	0.024	3018	2598	3564	3534	3594	0	0	0	0	0	0	27.10	27.06	27.11
1546	-0.80	-175.2	3018	2597	3536	3594	287.2	-12.9	130	1551	0.00	2.00	0.00	0.000	516	0.000	0.028	3025	1224	3564	3535	3594	0	0	0	0	0	0	27.27	27.05	27.33
1566	-0.80	-175.2	3025	1225	3536	3596	287.2	-12.9	130	1570	0.00	2.05	0.00	0.000	1030	0.000	0.032	3015	2599	3564	3535	3594	0	0	0	0	0	0	27.07	27.03	27.09
1876	-0.80	-175.2	3016	2601	3536	3595	322.8	-10.1	141	1880	0.00	1.65	0.00	0.000	260	0.000	0.045	3007	3692	3564	3534	3594	0	0	0	0	0	0	27.29	27.03	27.36
1901	-0.80	-175.2	3007	3694	3535	3595	322.8	-10.1	141	1908	0.00	1.55	0.00	0.000	1030	0.000	0.024	3009	2601	3564	3535	3593	0	0	0	0	0	0	27.17	27.13	27.17
2206	-0.80	-175.2	3009	2601	3536	3591	356.4	-10.2	152	2210	0.00	1.65	0.00	0.000	260	0.000	0.045	3002	3691	3563	3535	3592	0	0	0	0	0	0	27.32	27.05	27.37
2231	-0.80	-175.2	3002	3692	3535	3593	356.4	-10.2	152	2238	0.00	1.55	0.00	0.000	1030	0.000	0.024	3005	2599	3562	3534	3591	0	0	0	0	0	0	27.18	27.15	27.20
2536	-0.80	-175.2	3005	2598	3536	3587	397.8	-13.5	163	2537	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2599	3561	3535	3587	0	0	0	0	0	0	27.33	27.40	27.39
2836	-0.80	-175.2	3005	2599	3535	3583	433.7	-11.2	173	2837	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2598	3558	3534	3583	0	0	0	0	0	0	27.34	27.41	27.40
3136	-0.80	-175.2	3005	2600	3531	3583	461.7	-8.6	183	3137	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2598	3556	3531	3581	0	0	0	0	0	0	27.34	27.42	27.41
3436	-0.80	-175.2	3005	2600	3528	3580	488.2	-8.7	193	3441	0.00	2.03	0.00	0.000	516	0.000	0.031	3010	1222	3553	3527	3579	0	0	0	0	0	0	27.36	27.13	27.42
3491	-0.80	-175.2	3010	1222	3527	3579	490.8	-8.7	194	3499	0.08	2.08	0.00	0.000	3078	0.187	0.034	3022	2602	3552	3526	3578	0	0	0	0	0	0	26.86	27.12	26.98
3796	-0.80	-175.2	3023	2603	3524	3577	513.8	-6.6	205	3800	0.00	1.65	0.00	0.000	260	0.000	0.047	3016	3689	3549	3523	3576	0	0	0	0	0	0	27.36	27.08	27.42
3826	-0.80	-175.2	3015	3691	3524	3577	516.1	-6.8	206	3831	0.00	1.58	0.00	0.000	1030	0.000	0.027	3022	2596	3549	3523	3575	0	0	0	0	0	0	27.22	27.18	27.24
4156	-0.80	-175.2	3022	2596	3522	3573	543.6	-9.0	217	4157	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2595	3547	3521	3573	0	0	0	0	0	0	27.36	27.44	27.43
4456	-0.80	-175.2	3022	2595	3519	3571	572.3	-9.6	227	4461	0.00	1.67	0.00	0.000	260	0.000	0.049	3015	3690	3544	3518	3571	0	0	0	0	0	0	27.37	27.08	27.43
4511	-0.80	-175.2	3015	3689	3519	3570	576.0	-10.3	228	4519	0.00	1.58	0.00	0.000	1030	0.000	0.028	3022	2600	3544	3518	3571	0	0	0	0	0	0	27.22	27.18	27.24
4816	-0.80	-175.2	3022	2599	3516	3569	624.6	-12.9	239	4820	0.00	2.03	0.00	0.000	516	0.000	0.031	3033	1221	3542	3515	3569	0	0	0	0	0	0	27.37	27.13	27.43
5046	-0.80	-175.2	3032	1223	3513	3569	624.9	-0.0	246	5050	0.00	2.08	0.00	0.000	1030	0.000	0.036	3022	2598	3540	3513	3568	0	0	0	0	0	0	27.15	27.13	27.19
5055	end dive: NO_VERTICAL_VELOCITY
state	5055	begin apogee
5058	-0.17	0.0	3023	2430	3514	3568	624.8	0.0	247	5194	0.70	0.00	133.20	1.118	10246	0.160	0.000	3229	2429	2839	2813	2865	0	0	0	0	0	0	26.88	25.28	24.64
5194	end apogee: CONTROL_FINISHED_OK
state	5194	begin climb
5195	0.80	175.2	3229	2429	2811	2861	624.8	0.0	251	5338	1.08	2.10	135.20	1.011	10500	0.156	0.057	3526	3689	2118	2116	2121	0	0	0	0	0	0	25.30	25.00	24.53
5561	1.16	427.5	3526	3691	2112	2111	624.2	0.3	264	5774	0.35	1.90	201.95	1.000	11270	0.098	0.027	3652	2414	1086	1108	1065	0	0	0	0	0	0	26.20	26.35	24.51
6071	1.16	427.5	3652	2413	1097	1048	529.7	20.7	281	6075	0.00	2.03	0.00	0.000	260	0.000	0.048	3643	3686	1072	1095	1049	0	0	0	0	0	0	26.59	26.35	26.65
6221	1.16	427.5	3643	3685	1092	1047	497.7	21.5	286	6226	0.00	1.88	0.00	0.000	1030	0.000	0.028	3652	2425	1069	1091	1048	0	0	0	0	0	0	26.61	26.59	26.63
6551	1.16	427.5	3651	2424	1093	1046	435.5	19.4	297	6556	0.00	2.12	0.00	0.000	516	0.000	0.035	3662	1022	1068	1091	1046	0	0	0	0	0	0	26.96	26.74	27.02
6586	1.16	427.5	3663	1022	1092	1046	429.8	19.4	298	6590	0.00	2.12	0.00	0.000	1030	0.000	0.034	3653	2413	1068	1091	1046	0	0	0	0	0	0	26.77	26.74	26.81
6911	1.16	427.5	3653	2413	1091	1044	362.7	20.9	309	6915	0.00	1.98	0.00	0.000	260	0.000	0.048	3643	3686	1067	1090	1044	0	0	0	0	0	0	27.07	26.82	27.14
6941	1.16	427.5	3642	3685	1090	1043	356.0	21.1	310	6946	0.00	1.88	0.00	0.000	1030	0.000	0.028	3650	2408	1066	1089	1043	0	0	0	0	0	0	26.92	26.90	26.94
7271	1.16	427.5	3652	2405	1090	1043	285.1	21.5	321	7276	0.00	2.00	0.00	0.000	260	0.000	0.048	3643	3690	1065	1088	1043	0	0	0	0	0	0	27.14	26.88	27.21
7346	1.16	427.5	3643	3691	1086	1045	272.4	21.0	323	7350	0.00	1.88	0.00	0.000	1030	0.000	0.028	3652	2419	1065	1087	1043	0	0	0	0	0	0	27.01	26.97	27.04
7661	1.16	427.5	3651	2415	1088	1043	215.8	15.2	334	7666	0.00	2.08	0.00	0.000	516	0.000	0.037	3662	1042	1065	1087	1043	0	0	0	0	0	0	27.20	26.96	27.27
7701	1.16	427.5	3662	1041	1089	1042	211.2	15.1	335	7706	0.00	2.08	0.00	0.000	1030	0.000	0.034	3653	2414	1065	1087	1043	0	0	0	0	0	0	26.99	26.96	27.03
8011	1.16	427.5	3653	2415	1087	1041	162.2	17.7	361	8015	0.00	1.98	0.00	0.000	260	0.000	0.047	3643	3698	1063	1086	1040	0	0	0	0	0	0	27.23	26.98	27.29
8196	1.16	427.5	3643	3698	1084	1039	133.9	11.8	379	8203	0.00	1.88	0.00	0.000	1030	0.000	0.027	3651	2420	1061	1083	1039	0	0	0	0	0	0	27.10	27.06	27.13
8501	1.19	447.2	3652	2421	1085	1039	106.1	9.2	410	8524	0.00	2.00	13.50	0.728	8452	0.000	0.045	3643	3698	1006	1030	983	0	0	0	0	0	0	27.27	26.73	26.08
8587	1.19	447.2	3643	3698	1026	980	96.1	12.9	418	8595	0.00	1.88	0.00	0.000	1030	0.000	0.026	3651	2418	1001	1025	978	0	0	0	0	0	0	26.94	26.91	26.96
8892	1.19	447.2	3652	2419	1026	980	57.2	11.0	449	8896	0.00	2.05	0.00	0.000	516	0.000	0.032	3662	1039	1001	1025	978	0	0	0	0	0	0	27.16	26.94	27.22
8917	1.19	447.2	3662	1039	1029	978	54.9	11.1	451	8924	0.00	2.08	0.00	0.000	1030	0.000	0.031	3653	2417	1002	1026	978	0	0	0	0	0	0	26.97	26.94	27.00
9222	1.19	447.2	3653	2418	1028	979	19.4	12.9	509	9223	0.00	0.00	0.00	0.000	6	0.000	0.000	3653	2417	1002	1027	978	0	0	0	0	0	0	27.22	27.29	27.28
9372	end climb: SURFACE_DEPTH_REACHED
state	9372	begin surface coast
9387	end surface coast: CONTROL_FINISHED_OK
state	9387	begin surface