Glider dive log

Taiwan17 Mar17 * SG122 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 122 HD_C 7.0800002e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 22 HEADING -1 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 25 ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LAT 47.599998 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LON -122.3 R_PORT_OVSHOOT 26 ALTIM_FREQUENCY 13

D_TGT 990 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 33 ALTIM_PULSE 8

D_ABORT 1020 SM_CC 541.86768 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 N_FILEKB 8 ROLL_MAXERRORS 1 XPDR_VALID 4

D_BOOST 20 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 COMM_SEQ 0 VBD_MIN 400 INT_PRESSURE_YINT 0

D_PITCH 0 PROTOCOL 9 VBD_MAX 3700 DEEPGLIDER 0

D_SAFE 0 N_NOCOMM 2 C_VBD 2609 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0016 DEVICE5 -1

T_MISSION 360 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 T_GPS 5 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_RSLEEP 3 W_ADJ_DBAND 3 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -8 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 10 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_CORR_THRESH 70 PITCH_W_DBAND 0.5 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_MMODEM 0 AH0_24V 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 167 AH0_10V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3912 MINV_24V 11 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3000 MINV_10V 10 SIM_PITCH 0

MAX_BUOY 175 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043373066

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 1.2 SEABIRD_T_H 0.00062566844

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3683922e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SEABIRD_T_J 2.5145571e-06

RHO 1.0275 PITCH_GAIN 37 PHONE_SUPPLY -2 SEABIRD_C_G -9.8304396

MASS 53639 PITCH_TIMEOUT 20 PRESSURE_YINT -167.00153 SEABIRD_C_H 1.0973777

MASS_COMP 0 PITCH_AD_RATE 150 PRESSURE_SLOPE 0.00010751 SEABIRD_C_I -0.001747182

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00021959859

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 1050.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

HD_A 0.00434 ROLL_MIN 346 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_B 0.00856 ROLL_MAX 3973 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.3683922e-05

AH0_10V 350 D_SURF 2 PITCH_ADJ_GAIN 0 SEABIRD_T_J 2.5145571e-06

AH0_24V 0 D_TGT 990 PITCH_AD_RATE 150 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SM_CC 541.86768

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 37 SPEED_FACTOR 1

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3912 STOP_T 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PULSE 8 FILEMGR 0 PITCH_MIN 167 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0016 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0.5 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00434 PITCH_W_GAIN 10 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.00856 PRESSURE_SLOPE 0.00010751 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 7.0800002e-06 PRESSURE_YINT -167.00153 TGT_DEFAULT_LAT 47.599998

CALL_TRIES 5 HEADING -1 PROTOCOL 9 TGT_DEFAULT_LON -122.3

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_BOOST 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 70 T_DIVE 330

CF8_MAXERRORS 0 ID 122 RAFOS_DEVICE -1 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_GPS 5

COMPASS2_DEVICE 149 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_LOITER 0

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_MISSION 360

COMPASS_USE 4 LOGGERDEVICE1 53 RELAUNCH 1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.0275 T_RSLEEP 3

C_PITCH 3000 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 2500 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2200 LOGGERS 1 ROLL_AD_RATE 200 T_WATCHDOG 10

C_VBD 2609 MASS 53639 ROLL_CNV 0.028270001 UNCOM_BLEED 20

DBDW 0 MASS_COMP 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 1.2 ROLL_MAX 3973 USE_BATHY -8

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE2 -1 MAX_BUOY 175 ROLL_MIN 346 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 10 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 11 R_PORT_OVSHOOT 26 VBD_DBAND 2

DEVICE5 -1 MISSION 22 R_STBD_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE6 -1 MOTHERBOARD 4 SC_NDIVE 1.0 VBD_MAX 3700

DIVE 25 NAV_MODE 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

D_ABORT 1020 NOCOMM_ACTION 163 SC_RECORDABOVE 1050.0 VBD_MIN 400

D_BOOST 20 N_DIVES 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_FILEKB 8 SEABIRD_C_G -9.8304396 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_GPS 100440 SEABIRD_C_H 1.0973777 VBD_TIMEOUT 720

D_FLARE 3 N_NOCOMM 2 SEABIRD_C_I -0.001747182 W_ADJ_DBAND 3

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_C_J 0.00021959859 XPDR_DEVICE 24

D_OFFGRID 1000 PHONE_DEVICE 49 SEABIRD_T_G 0.0043373066 XPDR_INHIBIT 90

D_PITCH 0 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062566844 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 080317,081809,2219.8701,12113.3848,187,1.0,227,-3.2,2.0,21.6,7,22.8 SPEED_LIMITS 0.173,0.301

_CALLS 1 TGT_NAME N1

_XMS_NAKs 0 TGT_LATLONG 2303.600,12125.840

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.66 MHEAD_RNG_PITCHd_Wd 46.1,82386,-16.1,-10.000,-18.36,2615

_SM_ANGLEo -75.4 D_GRID 771

GPS2 080317,083329,2220.5696,12113.5791,125,1.0,165,-3.3,2.5,69.8,9,50.3

Post-dive calculations and measurements:

FINISH 0.6,1.022908 _10V_AH 13.27,11.307

SM_CCo 9864,0.00,0.000,0,0,400,541.87 FG_AHR_24Vo 0.000

SM_GC 5.39,10.02,2.92,0.00,0.050,0.044,0.000,137,2214,400,-8.81,1.41,541.87,0,0,0,0,0,0,14.89,14.87,14.93 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2206.70,12113.41,080317,060552 MEM 194816

TT8_MAMPS 0.036701,1.03212 DATA_FILE_SIZE 33397,965

HUMID 52.12 CAP_FILE_SIZE 99588,0

INTERNAL_PRESSURE 8.82846 CFSIZE 260034560,253353984

TCM_TEMP 23.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 11 CURRENT 0.000,0.00,1

SC_FREEKB 7891968 GPS 080317,083329,2220.570,12113.579,301,99.0,301,-3.3,2.5,69.8,9,50.3

_24V_AH 13.38,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 354 120.28 nil 0 0 0.00

Roll_motor 97 2114 2767.61 nil 0 0 0.00

VBD_pump_during_apogee 629 1765 14881.35 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 9806 12 1678.37

Iridium_during_xfer 563 182 1378.81 nil 0 0 0.00

Transponder_ping 2 420 15.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 169 20 47.24

TT8 0 0 0.00

LPSleep 7215 2 209.69

TT8_Active 668 11 99.46

TT8_Sampling 2475 29 959.23

TT8_CF8 412 33 184.35

TT8_Kalman 0 0 0.00

Analog_circuits 2024 10 282.02

GPS_charging 0 0 0.00

Compass 1380 5 109.72

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -0.71 -170.3 138 2206 301 497 0.0 0.0 0 48 0.00 0.00 -35.00 0.000 16386 0.000 0.000 137 2206 1425 1400 1451 0 0 0 0 0 0 14.96 28.83 14.98

52 -0.71 -170.3 138 2207 1395 1452 3.1 -5.0 6 100 11.60 2.75 -29.60 0.000 18980 0.355 2.114 2767 788 3299 3204 3395 0 0 0 0 0 0 14.57 13.64 14.80

327 -0.71 -170.3 2767 788 3135 3366 169.4 -60.8 59 333 0.00 2.45 0.00 0.000 1030 0.000 0.067 2759 2192 3250 3134 3366 0 0 0 0 0 0 14.88 14.79 14.90

652 -0.71 -170.3 2758 2193 3132 3362 351.9 -55.8 77 657 0.00 2.47 0.00 0.000 516 0.000 0.078 2757 779 3246 3132 3361 0 0 0 0 0 0 15.08 14.88 15.10

854 -0.71 -170.3 2758 779 3132 3360 459.3 -50.5 117 859 0.00 2.40 0.00 0.000 1030 0.000 0.047 2749 2223 3246 3131 3361 0 0 0 0 0 0 15.00 14.94 15.02

1166 -0.71 -170.3 2748 2224 3130 3357 627.9 -55.0 129 1172 0.00 2.50 0.00 0.000 516 0.000 0.073 2747 776 3242 3129 3356 0 0 0 0 0 0 15.14 14.96 15.16

1253 -0.71 -170.3 2747 776 3128 3356 675.5 -55.5 146 1260 0.15 2.40 0.00 0.000 3078 0.309 0.044 2767 2214 3241 3127 3356 0 0 0 0 0 0 14.82 14.99 15.00

1465 end dive: TARGET_DEPTH_EXCEEDED

state 1465 begin apogee

1473 -0.14 0.0 2767 2519 3126 3353 786.3 -50.2 154 1631 0.70 0.00 154.75 1.519 10246 0.263 0.000 2948 2518 2606 2506 2707 0 0 0 0 0 0 14.84 14.30 13.63

1632 end apogee: CONTROL_FINISHED_OK

state 1632 begin climb

1636 0.71 170.3 2949 2519 2505 2706 833.7 0.0 159 1783 0.98 2.67 135.27 1.766 10756 0.207 0.062 3220 1087 1908 1813 2004 0 0 0 0 0 0 14.23 14.20 13.38

1940 1.44 630.2 3220 1086 1805 2004 855.7 -8.1 220 2293 0.80 2.42 339.90 1.691 11302 0.142 0.048 3457 2491 396 223 570 0 0 0 0 0 0 14.57 14.61 13.42

2600 1.44 630.2 3457 2492 219 564 818.6 12.3 301 2606 0.00 2.50 0.00 0.000 260 0.000 0.078 3458 3905 390 218 563 0 0 0 0 0 0 14.89 14.66 14.92

2773 1.44 630.2 3457 3907 219 561 797.1 13.3 335 2777 0.00 2.40 0.00 0.000 1030 0.000 0.044 3468 2478 389 218 560 0 0 0 0 0 0 14.87 14.82 14.88

3085 1.44 630.2 3469 2478 218 560 758.5 12.5 347 3085 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 2477 389 218 560 0 0 0 0 0 0 15.05 15.08 15.07

3384 1.44 630.2 3468 2478 218 560 722.7 11.2 357 3385 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 2478 388 218 559 0 0 0 0 0 0 15.09 15.11 15.11

3684 1.44 630.2 3468 2478 218 560 686.0 12.3 367 3689 0.00 2.33 0.00 0.000 516 0.000 0.058 3479 1097 389 218 560 0 0 0 0 0 0 15.11 14.94 15.14

3765 1.44 630.2 3479 1098 220 560 676.1 12.3 383 3770 0.00 2.38 0.00 0.000 1030 0.000 0.047 3480 2502 390 220 560 0 0 0 0 0 0 15.02 14.95 15.03

4076 1.44 630.2 3480 2502 220 560 636.1 13.2 395 4081 0.00 2.42 0.00 0.000 516 0.000 0.057 3490 1092 390 220 560 0 0 0 0 0 0 15.14 14.95 15.16

4102 1.44 630.2 3490 1092 222 561 632.2 15.6 400 4109 0.00 2.40 0.00 0.000 1030 0.000 0.048 3490 2499 390 221 559 0 0 0 0 0 0 15.03 14.97 15.05

4408 1.44 630.2 3490 2499 221 560 587.6 14.7 411 4412 0.00 2.40 0.00 0.000 516 0.000 0.056 3501 1097 390 221 560 0 0 0 0 0 0 15.14 14.97 15.16

4439 1.44 630.2 3501 1098 222 560 582.7 14.9 417 4445 0.15 2.38 0.00 0.000 5126 0.239 0.048 3465 2505 390 221 560 0 0 0 0 0 0 14.86 14.98 15.02

4772 1.44 630.2 3464 2506 221 560 541.8 12.0 433 4773 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2506 390 221 560 0 0 0 0 0 0 15.16 15.18 15.17

5071 1.44 630.2 3464 2506 222 560 503.4 12.6 443 5076 0.00 2.42 0.00 0.000 260 0.000 0.078 3464 3911 390 221 559 0 0 0 0 0 0 15.16 14.96 15.18

5223 1.44 630.2 3464 3911 224 560 483.8 12.7 473 5228 0.00 2.35 0.00 0.000 1030 0.000 0.043 3473 2496 391 223 559 0 0 0 0 0 0 15.05 15.00 15.07

5555 1.44 630.2 3473 2497 224 560 445.4 11.5 489 5561 0.00 2.35 0.00 0.000 516 0.000 0.057 3484 1097 391 224 559 0 0 0 0 0 0 15.16 14.98 15.18

5572 1.44 630.2 3484 1098 225 560 443.3 11.4 492 5577 0.00 2.38 0.00 0.000 1030 0.000 0.048 3484 2504 392 224 560 0 0 0 0 0 0 15.05 14.98 15.07

5888 1.44 630.2 3484 2504 225 560 402.4 12.8 505 5894 0.00 2.42 0.00 0.000 260 0.000 0.079 3484 3907 391 224 559 0 0 0 0 0 0 15.16 14.96 15.18

6038 1.44 630.2 3483 3907 226 559 382.1 12.8 534 6045 0.12 2.35 0.00 0.000 5126 0.256 0.041 3466 2489 392 225 559 0 0 0 0 0 0 14.86 14.99 15.02

6340 1.44 630.2 3466 2489 226 560 348.2 11.1 545 6345 0.00 2.35 0.00 0.000 516 0.000 0.057 3475 1093 392 226 559 0 0 0 0 0 0 15.15 14.96 15.17

6407 1.44 630.2 3475 1094 226 559 340.9 11.3 558 6412 0.00 2.38 0.00 0.000 1030 0.000 0.046 3476 2502 392 226 559 0 0 0 0 0 0 15.04 14.97 15.06

6734 1.44 630.2 3475 2503 227 560 302.8 11.6 573 6739 0.00 2.42 0.00 0.000 260 0.000 0.076 3476 3910 392 226 559 0 0 0 0 0 0 15.14 14.95 15.16

6906 1.44 630.2 3476 3910 227 559 279.7 13.9 607 6911 0.00 2.35 0.00 0.000 1030 0.000 0.043 3486 2492 393 227 559 0 0 0 0 0 0 15.04 14.99 15.05

7217 1.44 630.2 3486 2493 228 559 244.5 11.1 624 7222 0.00 2.35 0.00 0.000 516 0.000 0.057 3498 1095 394 228 560 0 0 0 0 0 0 15.14 14.96 15.16

7279 1.44 630.2 3497 1095 228 560 237.7 10.5 636 7284 0.15 2.38 0.00 0.000 5126 0.233 0.046 3460 2505 393 228 559 0 0 0 0 0 0 14.82 14.97 14.97

7604 1.62 630.2 3460 2506 228 559 210.4 8.3 655 7609 0.15 2.42 0.00 0.000 2372 0.118 0.076 3534 3912 393 228 559 0 0 0 0 0 0 14.97 14.93 15.00

7630 1.62 630.2 3535 3913 229 559 207.5 10.6 660 7635 0.00 2.35 0.00 0.000 1030 0.000 0.041 3544 2493 393 228 559 0 0 0 0 0 0 14.99 14.93 15.01

7937 1.62 630.2 3544 2494 230 560 173.3 10.6 689 7942 0.00 2.50 0.00 0.000 260 0.000 0.075 3544 3912 394 230 559 0 0 0 0 0 0 15.11 14.91 15.13

7953 1.62 630.2 3544 3913 230 560 171.4 10.7 692 7960 0.15 2.35 0.00 0.000 5126 0.242 0.041 3518 2489 394 229 559 0 0 0 0 0 0 14.81 14.95 14.98

8259 1.70 630.2 3518 2489 232 559 141.9 9.2 723 8263 0.00 2.50 0.00 0.000 324 0.000 0.076 3517 3908 395 231 559 0 0 0 0 0 0 15.09 14.86 15.11

8490 1.70 630.2 3517 3909 233 559 116.7 11.1 769 8496 0.00 2.35 0.00 0.000 1030 0.000 0.041 3527 2487 396 233 559 0 0 0 0 0 0 14.98 14.93 15.00

8803 1.88 741.4 3527 2487 236 560 90.6 5.6 801 8808 0.20 2.50 0.00 0.000 2340 0.106 0.073 3625 3914 398 236 560 0 0 0 0 0 0 14.90 14.88 14.94

8870 2.02 741.4 3625 3914 236 559 85.4 8.5 814 8876 0.00 2.35 0.00 0.000 1094 0.000 0.041 3634 2499 397 235 559 0 0 0 0 0 0 14.94 14.88 14.97

9175 2.17 833.8 3634 2500 236 559 67.4 6.4 845 9181 0.15 2.47 0.00 0.000 2340 0.123 0.073 3709 3907 397 235 559 0 0 0 0 0 0 14.89 14.87 14.92

9408 2.17 833.8 3709 3907 238 559 50.5 10.0 891 9412 0.00 2.35 0.00 0.000 1030 0.000 0.046 3720 2494 399 239 560 0 0 0 0 0 0 14.95 14.90 14.97

9715 2.17 833.8 3720 2494 242 560 10.5 13.7 952 9721 0.00 2.50 0.00 0.000 260 0.000 0.074 3721 3910 400 241 559 0 0 0 0 0 0 15.02 14.81 15.04

9769 end climb: SURFACE_DEPTH_REACHED

state 9769 begin surface coast

9779 end surface coast: CONTROL_FINISHED_OK

state 9779 begin surface

ID	122	HD_C	7.0800002e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	22	HEADING	-1	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	25	ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LAT	47.599998	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LON	-122.3	R_PORT_OVSHOOT	26	ALTIM_FREQUENCY	13
D_TGT	990	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	33	ALTIM_PULSE	8
D_ABORT	1020	SM_CC	541.86768	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	N_FILEKB	8	ROLL_MAXERRORS	1	XPDR_VALID	4
D_BOOST	20	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	COMM_SEQ	0	VBD_MIN	400	INT_PRESSURE_YINT	0
D_PITCH	0	PROTOCOL	9	VBD_MAX	3700	DEEPGLIDER	0
D_SAFE	0	N_NOCOMM	2	C_VBD	2609	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0016	DEVICE5	-1
T_MISSION	360	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	T_GPS	5	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_RSLEEP	3	W_ADJ_DBAND	3	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-8	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	10	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_CORR_THRESH	70	PITCH_W_DBAND	0.5	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_MMODEM	0	AH0_24V	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	167	AH0_10V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3912	MINV_24V	11	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3000	MINV_10V	10	SIM_PITCH	0
MAX_BUOY	175	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043373066
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	1.2	SEABIRD_T_H	0.00062566844
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3683922e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SEABIRD_T_J	2.5145571e-06
RHO	1.0275	PITCH_GAIN	37	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8304396
MASS	53639	PITCH_TIMEOUT	20	PRESSURE_YINT	-167.00153	SEABIRD_C_H	1.0973777
MASS_COMP	0	PITCH_AD_RATE	150	PRESSURE_SLOPE	0.00010751	SEABIRD_C_I	-0.001747182
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00021959859
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	1050.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
HD_A	0.00434	ROLL_MIN	346	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_B	0.00856	ROLL_MAX	3973	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0

GPS1	080317,081809,2219.8701,12113.3848,187,1.0,227,-3.2,2.0,21.6,7,22.8	SPEED_LIMITS	0.173,0.301
_CALLS	1	TGT_NAME	N1
_XMS_NAKs	0	TGT_LATLONG	2303.600,12125.840
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.66	MHEAD_RNG_PITCHd_Wd	46.1,82386,-16.1,-10.000,-18.36,2615
_SM_ANGLEo	-75.4	D_GRID	771
GPS2	080317,083329,2220.5696,12113.5791,125,1.0,165,-3.3,2.5,69.8,9,50.3

FINISH	0.6,1.022908	_10V_AH	13.27,11.307
SM_CCo	9864,0.00,0.000,0,0,400,541.87	FG_AHR_24Vo	0.000
SM_GC	5.39,10.02,2.92,0.00,0.050,0.044,0.000,137,2214,400,-8.81,1.41,541.87,0,0,0,0,0,0,14.89,14.87,14.93	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2206.70,12113.41,080317,060552	MEM	194816
TT8_MAMPS	0.036701,1.03212	DATA_FILE_SIZE	33397,965
HUMID	52.12	CAP_FILE_SIZE	99588,0
INTERNAL_PRESSURE	8.82846	CFSIZE	260034560,253353984
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	11	CURRENT	0.000,0.00,1
SC_FREEKB	7891968	GPS	080317,083329,2220.570,12113.579,301,99.0,301,-3.3,2.5,69.8,9,50.3
_24V_AH	13.38,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	354	120.28	nil	0	0	0.00
Roll_motor	97	2114	2767.61	nil	0	0	0.00
VBD_pump_during_apogee	629	1765	14881.35	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	9806	12	1678.37
Iridium_during_xfer	563	182	1378.81	nil	0	0	0.00
Transponder_ping	2	420	15.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	169	20	47.24
TT8	0	0	0.00
LPSleep	7215	2	209.69
TT8_Active	668	11	99.46
TT8_Sampling	2475	29	959.23
TT8_CF8	412	33	184.35
TT8_Kalman	0	0	0.00
Analog_circuits	2024	10	282.02
GPS_charging	0	0	0.00
Compass	1380	5	109.72
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-0.71	-170.3	138	2206	301	497	0.0	0.0	0	48	0.00	0.00	-35.00	0.000	16386	0.000	0.000	137	2206	1425	1400	1451	0	0	0	0	0	0	14.96	28.83	14.98
52	-0.71	-170.3	138	2207	1395	1452	3.1	-5.0	6	100	11.60	2.75	-29.60	0.000	18980	0.355	2.114	2767	788	3299	3204	3395	0	0	0	0	0	0	14.57	13.64	14.80
327	-0.71	-170.3	2767	788	3135	3366	169.4	-60.8	59	333	0.00	2.45	0.00	0.000	1030	0.000	0.067	2759	2192	3250	3134	3366	0	0	0	0	0	0	14.88	14.79	14.90
652	-0.71	-170.3	2758	2193	3132	3362	351.9	-55.8	77	657	0.00	2.47	0.00	0.000	516	0.000	0.078	2757	779	3246	3132	3361	0	0	0	0	0	0	15.08	14.88	15.10
854	-0.71	-170.3	2758	779	3132	3360	459.3	-50.5	117	859	0.00	2.40	0.00	0.000	1030	0.000	0.047	2749	2223	3246	3131	3361	0	0	0	0	0	0	15.00	14.94	15.02
1166	-0.71	-170.3	2748	2224	3130	3357	627.9	-55.0	129	1172	0.00	2.50	0.00	0.000	516	0.000	0.073	2747	776	3242	3129	3356	0	0	0	0	0	0	15.14	14.96	15.16
1253	-0.71	-170.3	2747	776	3128	3356	675.5	-55.5	146	1260	0.15	2.40	0.00	0.000	3078	0.309	0.044	2767	2214	3241	3127	3356	0	0	0	0	0	0	14.82	14.99	15.00
1465	end dive: TARGET_DEPTH_EXCEEDED
state	1465	begin apogee
1473	-0.14	0.0	2767	2519	3126	3353	786.3	-50.2	154	1631	0.70	0.00	154.75	1.519	10246	0.263	0.000	2948	2518	2606	2506	2707	0	0	0	0	0	0	14.84	14.30	13.63
1632	end apogee: CONTROL_FINISHED_OK
state	1632	begin climb
1636	0.71	170.3	2949	2519	2505	2706	833.7	0.0	159	1783	0.98	2.67	135.27	1.766	10756	0.207	0.062	3220	1087	1908	1813	2004	0	0	0	0	0	0	14.23	14.20	13.38
1940	1.44	630.2	3220	1086	1805	2004	855.7	-8.1	220	2293	0.80	2.42	339.90	1.691	11302	0.142	0.048	3457	2491	396	223	570	0	0	0	0	0	0	14.57	14.61	13.42
2600	1.44	630.2	3457	2492	219	564	818.6	12.3	301	2606	0.00	2.50	0.00	0.000	260	0.000	0.078	3458	3905	390	218	563	0	0	0	0	0	0	14.89	14.66	14.92
2773	1.44	630.2	3457	3907	219	561	797.1	13.3	335	2777	0.00	2.40	0.00	0.000	1030	0.000	0.044	3468	2478	389	218	560	0	0	0	0	0	0	14.87	14.82	14.88
3085	1.44	630.2	3469	2478	218	560	758.5	12.5	347	3085	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	2477	389	218	560	0	0	0	0	0	0	15.05	15.08	15.07
3384	1.44	630.2	3468	2478	218	560	722.7	11.2	357	3385	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	2478	388	218	559	0	0	0	0	0	0	15.09	15.11	15.11
3684	1.44	630.2	3468	2478	218	560	686.0	12.3	367	3689	0.00	2.33	0.00	0.000	516	0.000	0.058	3479	1097	389	218	560	0	0	0	0	0	0	15.11	14.94	15.14
3765	1.44	630.2	3479	1098	220	560	676.1	12.3	383	3770	0.00	2.38	0.00	0.000	1030	0.000	0.047	3480	2502	390	220	560	0	0	0	0	0	0	15.02	14.95	15.03
4076	1.44	630.2	3480	2502	220	560	636.1	13.2	395	4081	0.00	2.42	0.00	0.000	516	0.000	0.057	3490	1092	390	220	560	0	0	0	0	0	0	15.14	14.95	15.16
4102	1.44	630.2	3490	1092	222	561	632.2	15.6	400	4109	0.00	2.40	0.00	0.000	1030	0.000	0.048	3490	2499	390	221	559	0	0	0	0	0	0	15.03	14.97	15.05
4408	1.44	630.2	3490	2499	221	560	587.6	14.7	411	4412	0.00	2.40	0.00	0.000	516	0.000	0.056	3501	1097	390	221	560	0	0	0	0	0	0	15.14	14.97	15.16
4439	1.44	630.2	3501	1098	222	560	582.7	14.9	417	4445	0.15	2.38	0.00	0.000	5126	0.239	0.048	3465	2505	390	221	560	0	0	0	0	0	0	14.86	14.98	15.02
4772	1.44	630.2	3464	2506	221	560	541.8	12.0	433	4773	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2506	390	221	560	0	0	0	0	0	0	15.16	15.18	15.17
5071	1.44	630.2	3464	2506	222	560	503.4	12.6	443	5076	0.00	2.42	0.00	0.000	260	0.000	0.078	3464	3911	390	221	559	0	0	0	0	0	0	15.16	14.96	15.18
5223	1.44	630.2	3464	3911	224	560	483.8	12.7	473	5228	0.00	2.35	0.00	0.000	1030	0.000	0.043	3473	2496	391	223	559	0	0	0	0	0	0	15.05	15.00	15.07
5555	1.44	630.2	3473	2497	224	560	445.4	11.5	489	5561	0.00	2.35	0.00	0.000	516	0.000	0.057	3484	1097	391	224	559	0	0	0	0	0	0	15.16	14.98	15.18
5572	1.44	630.2	3484	1098	225	560	443.3	11.4	492	5577	0.00	2.38	0.00	0.000	1030	0.000	0.048	3484	2504	392	224	560	0	0	0	0	0	0	15.05	14.98	15.07
5888	1.44	630.2	3484	2504	225	560	402.4	12.8	505	5894	0.00	2.42	0.00	0.000	260	0.000	0.079	3484	3907	391	224	559	0	0	0	0	0	0	15.16	14.96	15.18
6038	1.44	630.2	3483	3907	226	559	382.1	12.8	534	6045	0.12	2.35	0.00	0.000	5126	0.256	0.041	3466	2489	392	225	559	0	0	0	0	0	0	14.86	14.99	15.02
6340	1.44	630.2	3466	2489	226	560	348.2	11.1	545	6345	0.00	2.35	0.00	0.000	516	0.000	0.057	3475	1093	392	226	559	0	0	0	0	0	0	15.15	14.96	15.17
6407	1.44	630.2	3475	1094	226	559	340.9	11.3	558	6412	0.00	2.38	0.00	0.000	1030	0.000	0.046	3476	2502	392	226	559	0	0	0	0	0	0	15.04	14.97	15.06
6734	1.44	630.2	3475	2503	227	560	302.8	11.6	573	6739	0.00	2.42	0.00	0.000	260	0.000	0.076	3476	3910	392	226	559	0	0	0	0	0	0	15.14	14.95	15.16
6906	1.44	630.2	3476	3910	227	559	279.7	13.9	607	6911	0.00	2.35	0.00	0.000	1030	0.000	0.043	3486	2492	393	227	559	0	0	0	0	0	0	15.04	14.99	15.05
7217	1.44	630.2	3486	2493	228	559	244.5	11.1	624	7222	0.00	2.35	0.00	0.000	516	0.000	0.057	3498	1095	394	228	560	0	0	0	0	0	0	15.14	14.96	15.16
7279	1.44	630.2	3497	1095	228	560	237.7	10.5	636	7284	0.15	2.38	0.00	0.000	5126	0.233	0.046	3460	2505	393	228	559	0	0	0	0	0	0	14.82	14.97	14.97
7604	1.62	630.2	3460	2506	228	559	210.4	8.3	655	7609	0.15	2.42	0.00	0.000	2372	0.118	0.076	3534	3912	393	228	559	0	0	0	0	0	0	14.97	14.93	15.00
7630	1.62	630.2	3535	3913	229	559	207.5	10.6	660	7635	0.00	2.35	0.00	0.000	1030	0.000	0.041	3544	2493	393	228	559	0	0	0	0	0	0	14.99	14.93	15.01
7937	1.62	630.2	3544	2494	230	560	173.3	10.6	689	7942	0.00	2.50	0.00	0.000	260	0.000	0.075	3544	3912	394	230	559	0	0	0	0	0	0	15.11	14.91	15.13
7953	1.62	630.2	3544	3913	230	560	171.4	10.7	692	7960	0.15	2.35	0.00	0.000	5126	0.242	0.041	3518	2489	394	229	559	0	0	0	0	0	0	14.81	14.95	14.98
8259	1.70	630.2	3518	2489	232	559	141.9	9.2	723	8263	0.00	2.50	0.00	0.000	324	0.000	0.076	3517	3908	395	231	559	0	0	0	0	0	0	15.09	14.86	15.11
8490	1.70	630.2	3517	3909	233	559	116.7	11.1	769	8496	0.00	2.35	0.00	0.000	1030	0.000	0.041	3527	2487	396	233	559	0	0	0	0	0	0	14.98	14.93	15.00
8803	1.88	741.4	3527	2487	236	560	90.6	5.6	801	8808	0.20	2.50	0.00	0.000	2340	0.106	0.073	3625	3914	398	236	560	0	0	0	0	0	0	14.90	14.88	14.94
8870	2.02	741.4	3625	3914	236	559	85.4	8.5	814	8876	0.00	2.35	0.00	0.000	1094	0.000	0.041	3634	2499	397	235	559	0	0	0	0	0	0	14.94	14.88	14.97
9175	2.17	833.8	3634	2500	236	559	67.4	6.4	845	9181	0.15	2.47	0.00	0.000	2340	0.123	0.073	3709	3907	397	235	559	0	0	0	0	0	0	14.89	14.87	14.92
9408	2.17	833.8	3709	3907	238	559	50.5	10.0	891	9412	0.00	2.35	0.00	0.000	1030	0.000	0.046	3720	2494	399	239	560	0	0	0	0	0	0	14.95	14.90	14.97
9715	2.17	833.8	3720	2494	242	560	10.5	13.7	952	9721	0.00	2.50	0.00	0.000	260	0.000	0.074	3721	3910	400	241	559	0	0	0	0	0	0	15.02	14.81	15.04
9769	end climb: SURFACE_DEPTH_REACHED
state	9769	begin surface coast
9779	end surface coast: CONTROL_FINISHED_OK
state	9779	begin surface