Glider dive log

MIRC Mar14 * SG178 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING 110 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 20 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 13 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 3 TGT_DEFAULT_LAT 47.700001 R_PORT_OVSHOOT 51 ALTIM_PULSE 1

D_FLARE 3 TGT_DEFAULT_LON -122.4 R_STBD_OVSHOOT 29 ALTIM_SENSITIVITY 5

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 6

D_ABORT 1030 SM_CC 500 ROLL_MAXERRORS 1 XPDR_INHIBIT 99

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 425 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2941 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 0.0018 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 300 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_MISSION 330 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 100740 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 148 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

D_OFFGRID 1020 PITCH_MIN 165 MINV_24V 22 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3954 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2780 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043278597

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00062587409

MAX_BUOY 250 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.9460888

SPEED_FACTOR 1 PITCH_GAIN 45 PRESSURE_YINT -46.597843 SEABIRD_C_H 1.1279132

RHO 1.0275 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.0001161899 SEABIRD_C_I -0.0015660153

MASS 51652 PITCH_AD_RATE 145 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020359491

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 125000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 20480.0

KALMAN_USE 2 ROLL_MIN 226 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

HD_A 0.00420903 ROLL_MAX 3782 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0099256597 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 8.8912799e-05 C_ROLL_DIVE 2550 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 125000.0 SEABIRD_T_H 0.00062587409

AH0_10V 95 D_SURF 3 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

AH0_24V 148 D_TGT 990 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.6760367e-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 1 FILEMGR 0 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 5 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 45 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00420903 PITCH_MAX 3954 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0099256597 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 8.8912799e-05 PITCH_MIN 165 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 HEADING 110 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0018 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 300

CF8_MAXERRORS 20 ID 178 PRESSURE_SLOPE 0.0001161899 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -46.597843 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_MISSION 330

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 2780 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2550 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2941 MASS 51652 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 250 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 ROLL_DEG 40 VBD_DBAND 2

DEVICE5 -1 MISSION 20 ROLL_MAX 3782 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 13 NAV_MODE 0 ROLL_MIN 226 VBD_MIN 425

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 N_DIVES 0 R_PORT_OVSHOOT 51 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 29 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 100740 SEABIRD_C_G -9.9460888 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 2 SEABIRD_C_H 1.1279132 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.0015660153 XPDR_INHIBIT 99

D_OFFGRID 1020 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00020359491 XPDR_VALID 6

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597

Pre-dive calculations and measurements:

GPS1 030315,100304,1309.7426,14439.5947,35,1.3,75,1.5,1.7,267.3,7,8.4 SPEED_LIMITS 0.191,0.314

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 1306.028,14449.951

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 108.5,20000,-16.3,-11.000,-19.31,3089

_SM_ANGLEo -68.5 D_GRID 1027

GPS2 030315,100724,1309.7216,14439.5322,11,0.9,16,1.5,0.3,245.8,8,7.8

Post-dive calculations and measurements:

FINISH 0.0,1.022102 _10V_AH 10.55,2.052

SM_CCo 9895,48.38,0.063,0,0,902,500.17 FG_AHR_24Vo 0.000

SM_GC 0.48,7.82,0.70,48.38,0.050,0.041,0.063,163,2556,902,-8.14,-1.07,500.17,0,0,0,0,0,0,26.79,26.89,26.79 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1303.16,14445.24,030315,060755 MEM 230468

TT8_MAMPS 0.050932,0.050932 DATA_FILE_SIZE 23434,543

HUMID 44.72 CAP_FILE_SIZE 84822,0

INTERNAL_PRESSURE 9.42419 CFSIZE 260034560,256282624

TCM_TEMP 24.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 INTR 0,14188.91,0x236db2,7,5

_24V_AH 24.34,2.289 GPS 030315,125423,1308.869,14440.920,15,1.3,43,1.5,0.6,33.1,7,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 253 122.56 SBE_CT 364 24 219.51

Roll_motor 66 55 89.71 nil 0 0 0.00

VBD_pump_during_apogee 515 1099 13800.63 nil 0 0 0.00

VBD_pump_during_surface 48 62 73.86 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 187 85 390.92 nil 0 0 0.00

Transponder_ping 0 420 5.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 30 6.05

TT8 0 0 0.00

LPSleep 7901 2 182.56

TT8_Active 626 16 106.85

TT8_Sampling 1560 46 759.10

TT8_CF8 106 54 61.19

TT8_Kalman 0 0 0.00

Analog_circuits 1438 15 232.15

GPS_charging 0 0 0.00

Compass 1074 0 8.50

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.80 -243.3 156 2561 911 886 0.0 0.0 0 105 0.00 0.00 -88.25 0.000 16386 0.000 0.000 154 2560 3064 3120 3008 0 0 0 0 0 0 26.82 28.83 26.89

107 -0.80 -243.3 155 2561 3121 3010 3.3 -10.1 16 140 10.12 2.20 -15.15 0.000 18948 0.254 0.051 2518 1144 3936 4004 3869 0 0 0 0 0 0 26.37 25.68 26.63

165 -0.80 -243.3 2517 1145 4006 3873 27.2 -34.8 27 171 0.00 2.25 0.00 0.000 1030 0.000 0.044 2510 2552 3938 4004 3872 0 0 0 0 0 0 26.71 26.67 26.74

476 -0.80 -243.3 2509 2553 4007 3874 150.8 -29.3 64 480 0.00 1.95 0.00 0.000 260 0.000 0.053 2501 3778 3939 4005 3873 0 0 0 0 0 0 27.10 26.84 27.16

586 -0.80 -243.3 2501 3780 4004 3876 180.2 -24.7 75 589 0.00 1.85 0.00 0.000 1030 0.000 0.028 2501 2531 3940 4006 3875 0 0 0 0 0 0 27.00 26.98 27.01

916 -0.80 -243.3 2502 2531 4009 3880 246.0 -17.3 92 919 0.00 2.05 0.00 0.000 516 0.000 0.034 2503 1166 3944 4009 3879 0 0 0 0 0 0 27.24 27.03 27.31

986 -0.80 -243.3 2502 1167 4011 3882 255.2 -16.0 94 989 0.00 2.17 0.00 0.000 1030 0.000 0.043 2496 2552 3945 4009 3881 0 0 0 0 0 0 27.07 27.02 27.08

1306 -0.80 -243.3 2497 2554 4009 3883 310.4 -17.2 105 1309 0.00 1.92 0.00 0.000 260 0.000 0.054 2487 3767 3946 4009 3883 0 0 0 0 0 0 27.32 27.08 27.38

1336 -0.80 -243.3 2488 3768 4009 3883 315.0 -16.6 106 1340 0.08 1.80 0.00 0.000 3078 0.157 0.031 2510 2557 3946 4009 3883 0 0 0 0 0 0 26.96 27.15 27.05

1666 -0.80 -243.3 2510 2558 4009 3883 360.6 -13.4 117 1669 0.00 2.12 0.00 0.000 516 0.000 0.037 2510 1156 3945 4009 3882 0 0 0 0 0 0 27.36 27.16 27.43

1730 -0.80 -243.3 2509 1156 4010 3883 369.2 -14.1 119 1734 0.00 2.17 0.00 0.000 1030 0.000 0.042 2503 2548 3946 4010 3883 0 0 0 0 0 0 27.19 27.15 27.21

2056 -0.80 -243.3 2502 2549 4009 3882 412.4 -12.6 130 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2547 3944 4007 3881 0 0 0 0 0 0 27.41 27.48 27.47

2356 -0.80 -243.3 2504 2548 4004 3879 449.3 -11.7 140 2359 0.00 2.12 0.00 0.000 516 0.000 0.037 2503 1161 3941 4005 3878 0 0 0 0 0 0 27.43 27.22 27.50

2411 -0.80 -243.3 2502 1162 4006 3880 452.7 -11.5 141 2417 0.00 2.17 0.00 0.000 1030 0.000 0.045 2494 2545 3941 4004 3878 0 0 0 0 0 0 27.24 27.20 27.27

2716 -0.80 -243.3 2492 2545 4004 3875 490.1 -12.0 152 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2545 3938 4002 3874 0 0 0 0 0 0 27.45 27.53 27.52

3016 -0.80 -243.3 2494 2545 3999 3872 522.6 -10.2 162 3017 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2545 3935 3999 3872 0 0 0 0 0 0 27.46 27.55 27.53

3316 -0.80 -243.3 2492 2546 3998 3870 558.8 -13.1 172 3316 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2545 3932 3996 3868 0 0 0 0 0 0 27.48 27.56 27.55

3616 -0.80 -243.3 2492 2546 3995 3867 601.5 -14.7 182 3617 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2545 3929 3993 3866 0 0 0 0 0 0 27.49 27.57 27.55

3916 -0.80 -243.3 2494 2546 3990 3864 647.2 -15.7 192 3919 0.00 2.12 0.00 0.000 516 0.000 0.041 2493 1168 3926 3989 3864 0 0 0 0 0 0 27.50 27.28 27.57

3950 -0.80 -243.3 2493 1168 3989 3864 652.0 -15.9 193 3955 0.10 2.20 0.00 0.000 3078 0.152 0.048 2515 2557 3925 3988 3863 0 0 0 0 0 0 27.15 27.26 27.24

4276 -0.80 -243.3 2516 2557 3986 3861 696.3 -12.4 204 4277 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2557 3923 3986 3860 0 0 0 0 0 0 27.51 27.58 27.58

4576 -0.80 -243.3 2515 2558 3984 3859 726.3 -9.1 214 4579 0.00 2.15 0.00 0.000 516 0.000 0.040 2515 1161 3920 3983 3858 0 0 0 0 0 0 27.51 27.29 27.58

4596 -0.80 -243.3 2516 1161 3982 3859 726.3 -9.1 214 4600 0.00 2.17 0.00 0.000 1030 0.000 0.041 2516 2559 3920 3982 3858 0 0 0 0 0 0 27.34 27.29 27.36

4844 end dive: NO_VERTICAL_VELOCITY

state 4844 begin apogee

4848 -0.11 0.0 2516 2106 3984 3856 728.4 0.0 223 5050 0.60 0.00 199.20 1.099 10246 0.050 0.000 2759 2104 2941 2987 2895 0 0 0 0 0 0 27.31 25.15 24.47

5051 end apogee: CONTROL_FINISHED_OK

state 5051 begin climb

5052 0.80 243.3 2759 2105 2989 2895 728.0 0.0 229 5268 0.77 2.45 205.43 1.089 10500 0.053 0.055 3044 3504 1948 2000 1896 0 0 0 0 0 0 25.34 25.04 24.34

5333 0.80 243.3 3043 3505 1991 1896 691.4 19.0 239 5336 0.00 2.25 0.00 0.000 1030 0.000 0.032 3054 2115 1942 1989 1895 0 0 0 0 0 0 25.91 25.88 25.93

5657 0.80 243.3 3055 2115 1987 1890 637.0 15.8 250 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2115 1938 1987 1890 0 0 0 0 0 0 26.77 26.84 26.84

5958 0.80 243.3 3054 2116 1987 1889 580.0 19.6 260 5961 0.00 2.28 0.00 0.000 260 0.000 0.056 3054 3502 1937 1985 1889 0 0 0 0 0 0 27.00 26.75 27.06

6002 0.80 243.3 3054 3502 1986 1889 573.9 19.5 261 6006 0.00 2.20 0.00 0.000 1030 0.000 0.033 3064 2090 1936 1984 1888 0 0 0 0 0 0 26.85 26.82 26.87

6317 0.80 243.3 3064 2091 1984 1889 508.7 19.8 272 6318 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2090 1934 1982 1887 0 0 0 0 0 0 27.14 27.22 27.21

6618 0.80 243.3 3065 2090 1980 1888 454.3 17.2 282 6618 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2090 1933 1980 1887 0 0 0 0 0 0 27.22 27.29 27.29

6917 0.80 243.3 3065 2090 1978 1888 403.2 16.7 292 6918 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2090 1933 1980 1887 0 0 0 0 0 0 27.27 27.34 27.34

7217 0.80 243.3 3064 2089 1981 1888 349.7 18.7 302 7221 0.00 2.20 0.00 0.000 516 0.000 0.047 3076 692 1933 1979 1887 0 0 0 0 0 0 27.32 27.08 27.38

7237 0.80 243.3 3075 692 1981 1887 349.7 18.7 302 7241 0.10 2.20 0.00 0.000 5126 0.161 0.036 3046 2106 1932 1979 1886 0 0 0 0 0 0 26.96 27.10 27.05

7548 0.80 243.3 3046 2106 1978 1886 295.4 15.6 313 7551 0.00 2.22 0.00 0.000 260 0.000 0.055 3045 3499 1931 1978 1885 0 0 0 0 0 0 27.35 27.10 27.41

7577 0.80 243.3 3045 3499 1979 1885 290.3 15.8 314 7581 0.00 2.15 0.00 0.000 1030 0.000 0.033 3054 2094 1931 1978 1885 0 0 0 0 0 0 27.17 27.15 27.20

7907 0.80 243.3 3053 2095 1978 1884 241.6 13.8 325 7911 0.00 2.25 0.00 0.000 260 0.000 0.054 3054 3495 1929 1976 1883 0 0 0 0 0 0 27.38 27.12 27.45

7943 0.80 243.3 3054 3495 1976 1884 236.7 14.2 326 7946 0.00 2.12 0.00 0.000 1030 0.000 0.033 3064 2103 1929 1976 1883 0 0 0 0 0 0 27.22 27.18 27.24

8247 0.80 243.3 3065 2103 1974 1883 193.2 13.8 339 8251 0.00 2.20 0.00 0.000 516 0.000 0.044 3075 694 1928 1974 1882 0 0 0 0 0 0 27.40 27.17 27.46

8462 0.80 243.3 3074 694 1975 1882 162.1 13.6 360 8469 0.10 2.17 0.00 0.000 5126 0.150 0.034 3044 2104 1928 1975 1881 0 0 0 0 0 0 27.05 27.19 27.14

8768 0.94 319.5 3043 2105 1976 1881 135.4 8.5 391 8832 0.12 2.30 59.17 0.712 10500 0.099 0.052 3099 3499 1637 1682 1593 0 0 0 0 0 0 27.24 26.24 25.67

8947 0.94 319.5 3099 3499 1680 1591 112.1 14.1 409 8951 0.00 2.17 0.00 0.000 1030 0.000 0.031 3110 2100 1634 1678 1591 0 0 0 0 0 0 26.63 26.59 26.65

9257 1.05 383.5 3109 2100 1680 1588 76.9 8.9 440 9311 0.00 0.00 51.97 0.657 8198 0.000 0.000 3111 2100 1377 1422 1332 0 0 0 0 0 0 27.05 26.03 25.54

9607 1.05 383.5 3111 2100 1418 1326 33.3 13.5 488 9613 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2100 1372 1418 1326 0 0 0 0 0 0 26.91 26.98 26.97

9856 end climb: SURFACE_DEPTH_REACHED

state 9856 begin surface coast

9881 end surface coast: CONTROL_FINISHED_OK

state 9881 begin surface

ID	178	HEADING	110	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	20	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	13	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	3	TGT_DEFAULT_LAT	47.700001	R_PORT_OVSHOOT	51	ALTIM_PULSE	1
D_FLARE	3	TGT_DEFAULT_LON	-122.4	R_STBD_OVSHOOT	29	ALTIM_SENSITIVITY	5
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	6
D_ABORT	1030	SM_CC	500	ROLL_MAXERRORS	1	XPDR_INHIBIT	99
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	425	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2941	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	0.0018	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	300	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_MISSION	330	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	100740	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	148	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
D_OFFGRID	1020	PITCH_MIN	165	MINV_24V	22	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3954	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2780	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043278597
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00062587409
MAX_BUOY	250	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.4307059e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_J	2.6760367e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.9460888
SPEED_FACTOR	1	PITCH_GAIN	45	PRESSURE_YINT	-46.597843	SEABIRD_C_H	1.1279132
RHO	1.0275	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.0001161899	SEABIRD_C_I	-0.0015660153
MASS	51652	PITCH_AD_RATE	145	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020359491
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	125000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	20480.0
KALMAN_USE	2	ROLL_MIN	226	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
HD_A	0.00420903	ROLL_MAX	3782	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0099256597	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	8.8912799e-05	C_ROLL_DIVE	2550	ALTIM_TOP_TURN_MARGIN	0

GPS1	030315,100304,1309.7426,14439.5947,35,1.3,75,1.5,1.7,267.3,7,8.4	SPEED_LIMITS	0.191,0.314
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	1306.028,14449.951
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	108.5,20000,-16.3,-11.000,-19.31,3089
_SM_ANGLEo	-68.5	D_GRID	1027
GPS2	030315,100724,1309.7216,14439.5322,11,0.9,16,1.5,0.3,245.8,8,7.8

FINISH	0.0,1.022102	_10V_AH	10.55,2.052
SM_CCo	9895,48.38,0.063,0,0,902,500.17	FG_AHR_24Vo	0.000
SM_GC	0.48,7.82,0.70,48.38,0.050,0.041,0.063,163,2556,902,-8.14,-1.07,500.17,0,0,0,0,0,0,26.79,26.89,26.79	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1303.16,14445.24,030315,060755	MEM	230468
TT8_MAMPS	0.050932,0.050932	DATA_FILE_SIZE	23434,543
HUMID	44.72	CAP_FILE_SIZE	84822,0
INTERNAL_PRESSURE	9.42419	CFSIZE	260034560,256282624
TCM_TEMP	24.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	INTR	0,14188.91,0x236db2,7,5
_24V_AH	24.34,2.289	GPS	030315,125423,1308.869,14440.920,15,1.3,43,1.5,0.6,33.1,7,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	253	122.56	SBE_CT	364	24	219.51
Roll_motor	66	55	89.71	nil	0	0	0.00
VBD_pump_during_apogee	515	1099	13800.63	nil	0	0	0.00
VBD_pump_during_surface	48	62	73.86	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	187	85	390.92	nil	0	0	0.00
Transponder_ping	0	420	5.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	30	6.05
TT8	0	0	0.00
LPSleep	7901	2	182.56
TT8_Active	626	16	106.85
TT8_Sampling	1560	46	759.10
TT8_CF8	106	54	61.19
TT8_Kalman	0	0	0.00
Analog_circuits	1438	15	232.15
GPS_charging	0	0	0.00
Compass	1074	0	8.50
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.80	-243.3	156	2561	911	886	0.0	0.0	0	105	0.00	0.00	-88.25	0.000	16386	0.000	0.000	154	2560	3064	3120	3008	0	0	0	0	0	0	26.82	28.83	26.89
107	-0.80	-243.3	155	2561	3121	3010	3.3	-10.1	16	140	10.12	2.20	-15.15	0.000	18948	0.254	0.051	2518	1144	3936	4004	3869	0	0	0	0	0	0	26.37	25.68	26.63
165	-0.80	-243.3	2517	1145	4006	3873	27.2	-34.8	27	171	0.00	2.25	0.00	0.000	1030	0.000	0.044	2510	2552	3938	4004	3872	0	0	0	0	0	0	26.71	26.67	26.74
476	-0.80	-243.3	2509	2553	4007	3874	150.8	-29.3	64	480	0.00	1.95	0.00	0.000	260	0.000	0.053	2501	3778	3939	4005	3873	0	0	0	0	0	0	27.10	26.84	27.16
586	-0.80	-243.3	2501	3780	4004	3876	180.2	-24.7	75	589	0.00	1.85	0.00	0.000	1030	0.000	0.028	2501	2531	3940	4006	3875	0	0	0	0	0	0	27.00	26.98	27.01
916	-0.80	-243.3	2502	2531	4009	3880	246.0	-17.3	92	919	0.00	2.05	0.00	0.000	516	0.000	0.034	2503	1166	3944	4009	3879	0	0	0	0	0	0	27.24	27.03	27.31
986	-0.80	-243.3	2502	1167	4011	3882	255.2	-16.0	94	989	0.00	2.17	0.00	0.000	1030	0.000	0.043	2496	2552	3945	4009	3881	0	0	0	0	0	0	27.07	27.02	27.08
1306	-0.80	-243.3	2497	2554	4009	3883	310.4	-17.2	105	1309	0.00	1.92	0.00	0.000	260	0.000	0.054	2487	3767	3946	4009	3883	0	0	0	0	0	0	27.32	27.08	27.38
1336	-0.80	-243.3	2488	3768	4009	3883	315.0	-16.6	106	1340	0.08	1.80	0.00	0.000	3078	0.157	0.031	2510	2557	3946	4009	3883	0	0	0	0	0	0	26.96	27.15	27.05
1666	-0.80	-243.3	2510	2558	4009	3883	360.6	-13.4	117	1669	0.00	2.12	0.00	0.000	516	0.000	0.037	2510	1156	3945	4009	3882	0	0	0	0	0	0	27.36	27.16	27.43
1730	-0.80	-243.3	2509	1156	4010	3883	369.2	-14.1	119	1734	0.00	2.17	0.00	0.000	1030	0.000	0.042	2503	2548	3946	4010	3883	0	0	0	0	0	0	27.19	27.15	27.21
2056	-0.80	-243.3	2502	2549	4009	3882	412.4	-12.6	130	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2547	3944	4007	3881	0	0	0	0	0	0	27.41	27.48	27.47
2356	-0.80	-243.3	2504	2548	4004	3879	449.3	-11.7	140	2359	0.00	2.12	0.00	0.000	516	0.000	0.037	2503	1161	3941	4005	3878	0	0	0	0	0	0	27.43	27.22	27.50
2411	-0.80	-243.3	2502	1162	4006	3880	452.7	-11.5	141	2417	0.00	2.17	0.00	0.000	1030	0.000	0.045	2494	2545	3941	4004	3878	0	0	0	0	0	0	27.24	27.20	27.27
2716	-0.80	-243.3	2492	2545	4004	3875	490.1	-12.0	152	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2545	3938	4002	3874	0	0	0	0	0	0	27.45	27.53	27.52
3016	-0.80	-243.3	2494	2545	3999	3872	522.6	-10.2	162	3017	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2545	3935	3999	3872	0	0	0	0	0	0	27.46	27.55	27.53
3316	-0.80	-243.3	2492	2546	3998	3870	558.8	-13.1	172	3316	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2545	3932	3996	3868	0	0	0	0	0	0	27.48	27.56	27.55
3616	-0.80	-243.3	2492	2546	3995	3867	601.5	-14.7	182	3617	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2545	3929	3993	3866	0	0	0	0	0	0	27.49	27.57	27.55
3916	-0.80	-243.3	2494	2546	3990	3864	647.2	-15.7	192	3919	0.00	2.12	0.00	0.000	516	0.000	0.041	2493	1168	3926	3989	3864	0	0	0	0	0	0	27.50	27.28	27.57
3950	-0.80	-243.3	2493	1168	3989	3864	652.0	-15.9	193	3955	0.10	2.20	0.00	0.000	3078	0.152	0.048	2515	2557	3925	3988	3863	0	0	0	0	0	0	27.15	27.26	27.24
4276	-0.80	-243.3	2516	2557	3986	3861	696.3	-12.4	204	4277	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2557	3923	3986	3860	0	0	0	0	0	0	27.51	27.58	27.58
4576	-0.80	-243.3	2515	2558	3984	3859	726.3	-9.1	214	4579	0.00	2.15	0.00	0.000	516	0.000	0.040	2515	1161	3920	3983	3858	0	0	0	0	0	0	27.51	27.29	27.58
4596	-0.80	-243.3	2516	1161	3982	3859	726.3	-9.1	214	4600	0.00	2.17	0.00	0.000	1030	0.000	0.041	2516	2559	3920	3982	3858	0	0	0	0	0	0	27.34	27.29	27.36
4844	end dive: NO_VERTICAL_VELOCITY
state	4844	begin apogee
4848	-0.11	0.0	2516	2106	3984	3856	728.4	0.0	223	5050	0.60	0.00	199.20	1.099	10246	0.050	0.000	2759	2104	2941	2987	2895	0	0	0	0	0	0	27.31	25.15	24.47
5051	end apogee: CONTROL_FINISHED_OK
state	5051	begin climb
5052	0.80	243.3	2759	2105	2989	2895	728.0	0.0	229	5268	0.77	2.45	205.43	1.089	10500	0.053	0.055	3044	3504	1948	2000	1896	0	0	0	0	0	0	25.34	25.04	24.34
5333	0.80	243.3	3043	3505	1991	1896	691.4	19.0	239	5336	0.00	2.25	0.00	0.000	1030	0.000	0.032	3054	2115	1942	1989	1895	0	0	0	0	0	0	25.91	25.88	25.93
5657	0.80	243.3	3055	2115	1987	1890	637.0	15.8	250	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2115	1938	1987	1890	0	0	0	0	0	0	26.77	26.84	26.84
5958	0.80	243.3	3054	2116	1987	1889	580.0	19.6	260	5961	0.00	2.28	0.00	0.000	260	0.000	0.056	3054	3502	1937	1985	1889	0	0	0	0	0	0	27.00	26.75	27.06
6002	0.80	243.3	3054	3502	1986	1889	573.9	19.5	261	6006	0.00	2.20	0.00	0.000	1030	0.000	0.033	3064	2090	1936	1984	1888	0	0	0	0	0	0	26.85	26.82	26.87
6317	0.80	243.3	3064	2091	1984	1889	508.7	19.8	272	6318	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2090	1934	1982	1887	0	0	0	0	0	0	27.14	27.22	27.21
6618	0.80	243.3	3065	2090	1980	1888	454.3	17.2	282	6618	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2090	1933	1980	1887	0	0	0	0	0	0	27.22	27.29	27.29
6917	0.80	243.3	3065	2090	1978	1888	403.2	16.7	292	6918	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2090	1933	1980	1887	0	0	0	0	0	0	27.27	27.34	27.34
7217	0.80	243.3	3064	2089	1981	1888	349.7	18.7	302	7221	0.00	2.20	0.00	0.000	516	0.000	0.047	3076	692	1933	1979	1887	0	0	0	0	0	0	27.32	27.08	27.38
7237	0.80	243.3	3075	692	1981	1887	349.7	18.7	302	7241	0.10	2.20	0.00	0.000	5126	0.161	0.036	3046	2106	1932	1979	1886	0	0	0	0	0	0	26.96	27.10	27.05
7548	0.80	243.3	3046	2106	1978	1886	295.4	15.6	313	7551	0.00	2.22	0.00	0.000	260	0.000	0.055	3045	3499	1931	1978	1885	0	0	0	0	0	0	27.35	27.10	27.41
7577	0.80	243.3	3045	3499	1979	1885	290.3	15.8	314	7581	0.00	2.15	0.00	0.000	1030	0.000	0.033	3054	2094	1931	1978	1885	0	0	0	0	0	0	27.17	27.15	27.20
7907	0.80	243.3	3053	2095	1978	1884	241.6	13.8	325	7911	0.00	2.25	0.00	0.000	260	0.000	0.054	3054	3495	1929	1976	1883	0	0	0	0	0	0	27.38	27.12	27.45
7943	0.80	243.3	3054	3495	1976	1884	236.7	14.2	326	7946	0.00	2.12	0.00	0.000	1030	0.000	0.033	3064	2103	1929	1976	1883	0	0	0	0	0	0	27.22	27.18	27.24
8247	0.80	243.3	3065	2103	1974	1883	193.2	13.8	339	8251	0.00	2.20	0.00	0.000	516	0.000	0.044	3075	694	1928	1974	1882	0	0	0	0	0	0	27.40	27.17	27.46
8462	0.80	243.3	3074	694	1975	1882	162.1	13.6	360	8469	0.10	2.17	0.00	0.000	5126	0.150	0.034	3044	2104	1928	1975	1881	0	0	0	0	0	0	27.05	27.19	27.14
8768	0.94	319.5	3043	2105	1976	1881	135.4	8.5	391	8832	0.12	2.30	59.17	0.712	10500	0.099	0.052	3099	3499	1637	1682	1593	0	0	0	0	0	0	27.24	26.24	25.67
8947	0.94	319.5	3099	3499	1680	1591	112.1	14.1	409	8951	0.00	2.17	0.00	0.000	1030	0.000	0.031	3110	2100	1634	1678	1591	0	0	0	0	0	0	26.63	26.59	26.65
9257	1.05	383.5	3109	2100	1680	1588	76.9	8.9	440	9311	0.00	0.00	51.97	0.657	8198	0.000	0.000	3111	2100	1377	1422	1332	0	0	0	0	0	0	27.05	26.03	25.54
9607	1.05	383.5	3111	2100	1418	1326	33.3	13.5	488	9613	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2100	1372	1418	1326	0	0	0	0	0	0	26.91	26.98	26.97
9856	end climb: SURFACE_DEPTH_REACHED
state	9856	begin surface coast
9881	end surface coast: CONTROL_FINISHED_OK
state	9881	begin surface