Glider dive log

MIRC Mar14 * SG204 * Dive index * Mission links * Dive 16 * 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 16 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 67 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 47 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 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 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 250 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 300

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 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 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 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 22.5 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 16 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 67 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 4 R_STBD_OVSHOOT 47 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 030315,145736,1307.5430,14443.8008,37,0.8,37,1.1,0.8,248.8,11,22.3 SPEED_LIMITS 0.191,0.336

_CALLS 1 TGT_NAME N1

_XMS_NAKs 0 TGT_LATLONG 1309.000,14448.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.38 MHEAD_RNG_PITCHd_Wd 69.6,8179,-14.4,-11.000,-18.13,3362

_SM_ANGLEo -64.3 D_GRID 873

GPS2 030315,150204,1307.5392,14443.7197,8,0.9,8,1.1,0.8,242.2,10,16.3

Post-dive calculations and measurements:

FINISH 0.6,1.011637 FG_AHR_24Vo 0.000

SM_CCo 7854,2.62,0.144,0,0,797,500.17 FG_AHR_10Vo 0.000

SM_GC 1.88,10.00,2.40,2.62,0.082,0.034,0.144,194,2606,797,-9.59,-1.02,500.17,0,0,0,0,0,0,26.86,26.86,26.69 MEM 229796

IRIDIUM_FIX 1305.38,14443.96,030315,114134 DATA_FILE_SIZE 20171,474

TT8_MAMPS 0.054677,0.054677 CAP_FILE_SIZE 77019,0

HUMID 41.65 CFSIZE 1024393216,1016348672

INTERNAL_PRESSURE 9.26244 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 24.30 INTR 0,11845.97,0x236db2,7,5

XPDR_PINGS 0 CURRENT 0.237,240.32,1

_24V_AH 24.46,3.763 GPS 030315,171343,1307.475,14444.340,15,0.8,15,1.1,0.0,0.0,9,21.4

_10V_AH 10.35,3.307

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 237 137.77 SBE_CT 315 23 178.95

Roll_motor 66 48 79.91 nil 0 0 0.00

VBD_pump_during_apogee 580 1056 14995.61 nil 0 0 0.00

VBD_pump_during_surface 2 143 9.23 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 218 78 416.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 26 2.60

TT8 0 0 0.00

LPSleep 5969 2 135.31

TT8_Active 668 18 129.55

TT8_Sampling 1443 44 671.23

TT8_CF8 40 61 25.44

TT8_Kalman 0 0 0.00

Analog_circuits 1453 15 225.73

GPS_charging 0 0 0.00

Compass 954 8 81.38

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.85 -243.3 193 2625 711 670 0.0 0.0 0 68 0.00 0.00 -54.22 0.000 16386 0.000 0.000 192 2624 2166 2125 2207 0 0 0 0 0 0 26.75 28.83 26.82

69 -0.85 -243.3 193 2625 2127 2208 3.0 -5.6 9 121 11.55 2.15 -35.33 0.000 18948 0.237 0.044 3010 1206 3834 3782 3886 0 0 0 0 0 0 26.28 25.43 26.42

195 -0.85 -243.3 3011 1206 3784 3888 34.1 -27.9 33 202 0.00 2.12 0.00 0.000 1030 0.000 0.034 3002 2594 3835 3782 3888 0 0 0 0 0 0 26.66 26.63 26.70

501 -0.85 -243.3 3002 2594 3784 3888 122.1 -24.4 69 505 0.00 1.70 0.00 0.000 260 0.000 0.045 2994 3708 3835 3783 3888 0 0 0 0 0 0 27.03 26.77 27.08

636 -0.85 -243.3 2993 3708 3784 3889 155.8 -26.3 82 643 0.00 1.62 0.00 0.000 1030 0.000 0.024 3000 2580 3836 3783 3889 0 0 0 0 0 0 26.93 26.90 26.95

961 -0.85 -243.3 3000 2580 3788 3892 216.0 -16.1 109 966 0.00 2.00 0.00 0.000 516 0.000 0.028 3007 1212 3839 3786 3892 0 0 0 0 0 0 27.15 26.94 27.22

985 -0.85 -243.3 3007 1213 3787 3894 216.0 -16.1 109 993 0.00 2.10 0.00 0.000 1030 0.000 0.034 2998 2603 3839 3786 3893 0 0 0 0 0 0 26.96 26.93 26.98

1291 -0.85 -243.3 2998 2605 3787 3894 267.1 -15.2 120 1296 0.00 1.67 0.00 0.000 260 0.000 0.046 2989 3708 3840 3787 3893 0 0 0 0 0 0 27.21 26.95 27.27

1321 -0.85 -243.3 2990 3709 3788 3895 271.4 -14.9 121 1325 0.00 1.60 0.00 0.000 1030 0.000 0.024 2995 2586 3840 3787 3893 0 0 0 0 0 0 27.08 27.04 27.10

1651 -0.85 -243.3 2995 2588 3788 3895 322.4 -17.3 132 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2587 3840 3787 3893 0 0 0 0 0 0 27.25 27.32 27.32

1951 -0.85 -243.3 2996 2588 3787 3894 374.7 -16.9 142 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2587 3840 3787 3893 0 0 0 0 0 0 27.28 27.35 27.34

2251 -0.85 -243.3 2995 2587 3787 3891 419.5 -14.0 152 2255 0.00 1.70 0.00 0.000 260 0.000 0.047 2988 3698 3837 3786 3889 0 0 0 0 0 0 27.30 27.05 27.36

2286 -0.85 -243.3 2988 3698 3788 3889 424.0 -14.4 153 2290 0.00 1.58 0.00 0.000 1030 0.000 0.026 2994 2599 3837 3786 3889 0 0 0 0 0 0 27.17 27.13 27.19

2611 -0.85 -243.3 2995 2599 3787 3885 473.9 -14.5 164 2616 0.00 2.03 0.00 0.000 516 0.000 0.031 3004 1212 3834 3786 3883 0 0 0 0 0 0 27.32 27.10 27.39

2645 -0.85 -243.3 3004 1211 3787 3882 478.0 -14.1 165 2650 0.00 2.10 0.00 0.000 1030 0.000 0.035 2996 2604 3834 3786 3882 0 0 0 0 0 0 27.13 27.09 27.15

2971 -0.85 -243.3 2995 2604 3783 3880 524.4 -14.1 176 2975 0.00 1.67 0.00 0.000 260 0.000 0.047 2987 3706 3831 3783 3880 0 0 0 0 0 0 27.33 27.07 27.39

2990 -0.85 -243.3 2987 3708 3783 3881 524.4 -14.1 176 2995 0.00 1.60 0.00 0.000 1030 0.000 0.027 2994 2595 3830 3782 3879 0 0 0 0 0 0 27.20 27.15 27.21

3301 -0.85 -243.3 2994 2594 3781 3874 573.9 -11.9 187 3305 0.00 1.70 0.00 0.000 260 0.000 0.044 2986 3716 3827 3780 3875 0 0 0 0 0 0 27.34 27.08 27.40

3510 end dive: NO_VERTICAL_VELOCITY

state 3510 begin apogee

3514 -0.17 0.0 2994 2425 3779 3873 574.1 0.0 194 3704 0.73 0.00 187.02 1.056 10246 0.122 0.000 3227 2418 2837 2816 2859 0 0 0 0 0 0 26.98 25.22 24.60

3705 end apogee: CONTROL_FINISHED_OK

state 3705 begin climb

3706 0.85 243.3 3229 2419 2813 2856 574.6 0.0 200 3906 1.10 2.28 192.27 1.008 10756 0.138 0.034 3555 1024 1841 1843 1840 0 0 0 0 0 0 25.25 25.11 24.55

3934 1.04 376.2 3555 1024 1838 1832 563.5 6.9 208 4049 0.20 2.25 108.97 0.965 11270 0.096 0.034 3621 2421 1301 1315 1288 0 0 0 0 0 0 25.58 25.60 24.46

4354 1.09 410.6 3621 2423 1299 1267 528.5 9.9 222 4387 0.00 2.22 28.40 1.040 8708 0.000 0.034 3631 1022 1158 1175 1142 0 0 0 0 0 0 26.58 25.73 25.06

4406 1.12 433.4 3632 1023 1171 1135 525.5 10.3 223 4431 0.00 2.20 20.62 0.999 9222 0.000 0.032 3627 2416 1071 1092 1050 0 0 0 0 0 0 26.00 25.97 24.90

4746 1.12 433.4 3627 2416 1074 1027 468.6 17.9 235 4747 0.00 0.00 0.00 0.000 6 0.000 0.000 3626 2416 1050 1073 1027 0 0 0 0 0 0 26.71 26.78 26.78

5046 1.12 433.4 3627 2415 1072 1024 415.6 17.0 245 5047 0.00 0.00 0.00 0.000 6 0.000 0.000 3627 2416 1048 1071 1025 0 0 0 0 0 0 26.93 27.00 26.99

5346 1.12 433.4 3627 2417 1071 1025 363.4 17.4 255 5350 0.00 1.98 0.00 0.000 260 0.000 0.049 3617 3686 1046 1069 1024 0 0 0 0 0 0 27.04 26.79 27.11

5366 1.12 433.4 3617 3686 1070 1023 363.4 17.4 255 5371 0.00 1.90 0.00 0.000 1030 0.000 0.028 3626 2399 1046 1068 1024 0 0 0 0 0 0 26.91 26.87 26.94

5676 1.12 433.4 3626 2399 1069 1022 302.1 19.6 266 5677 0.00 0.00 0.00 0.000 6 0.000 0.000 3626 2399 1045 1068 1022 0 0 0 0 0 0 27.13 27.20 27.19

5976 1.12 433.4 3626 2400 1067 1022 248.0 16.9 276 5980 0.00 2.05 0.00 0.000 516 0.000 0.034 3636 1038 1043 1066 1021 0 0 0 0 0 0 27.17 26.95 27.24

6021 1.12 433.4 3636 1040 1067 1021 243.2 16.3 277 6026 0.00 2.08 0.00 0.000 1030 0.000 0.034 3627 2412 1043 1066 1020 0 0 0 0 0 0 26.99 26.96 27.01

6326 1.12 433.4 3627 2411 1066 1019 195.8 15.3 289 6331 0.00 1.98 0.00 0.000 260 0.000 0.048 3617 3695 1042 1065 1019 0 0 0 0 0 0 27.22 26.95 27.28

6436 1.12 433.4 3617 3694 1065 1018 178.2 16.8 300 6441 0.00 1.85 0.00 0.000 1030 0.000 0.027 3626 2422 1040 1063 1018 0 0 0 0 0 0 27.08 27.05 27.09

6746 1.12 433.4 3626 2423 1063 1019 135.2 12.2 331 6751 0.00 1.95 0.00 0.000 260 0.000 0.047 3618 3687 1039 1062 1017 0 0 0 0 0 0 27.25 26.99 27.32

6781 1.12 433.4 3618 3687 1063 1017 131.4 12.4 334 6788 0.00 1.85 0.00 0.000 1030 0.000 0.026 3626 2413 1039 1062 1017 0 0 0 0 0 0 27.12 27.08 27.13

7086 1.20 488.4 3626 2414 1062 1018 99.8 9.3 365 7139 0.17 2.08 43.00 0.782 10756 0.154 0.033 3688 1041 837 864 810 0 0 0 0 0 0 26.88 26.09 25.70

7147 1.20 488.4 3688 1041 864 807 92.9 11.7 371 7152 0.00 2.12 0.00 0.000 1030 0.000 0.031 3688 2425 833 862 805 0 0 0 0 0 0 26.43 26.40 26.46

7457 1.20 488.4 3688 2426 859 798 55.1 11.7 402 7462 0.00 2.10 0.00 0.000 516 0.000 0.033 3697 1039 827 857 797 0 0 0 0 0 0 26.93 26.72 26.99

7512 1.20 488.4 3697 1040 859 798 47.5 14.9 409 7520 0.00 2.10 0.00 0.000 1030 0.000 0.031 3697 2426 827 858 797 0 0 0 0 0 0 26.77 26.74 26.80

7818 1.20 488.4 3697 2427 859 797 2.2 16.7 470 7825 0.00 2.10 0.00 0.000 516 0.000 0.034 3707 1033 828 859 797 0 0 0 0 0 0 27.09 26.87 27.15

7828 end climb: SURFACE_DEPTH_REACHED

state 7828 begin surface coast

7838 end surface coast: CONTROL_FINISHED_OK

state 7838 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	16	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	67	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	47	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	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	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	250	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	030315,145736,1307.5430,14443.8008,37,0.8,37,1.1,0.8,248.8,11,22.3	SPEED_LIMITS	0.191,0.336
_CALLS	1	TGT_NAME	N1
_XMS_NAKs	0	TGT_LATLONG	1309.000,14448.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.38	MHEAD_RNG_PITCHd_Wd	69.6,8179,-14.4,-11.000,-18.13,3362
_SM_ANGLEo	-64.3	D_GRID	873
GPS2	030315,150204,1307.5392,14443.7197,8,0.9,8,1.1,0.8,242.2,10,16.3

FINISH	0.6,1.011637	FG_AHR_24Vo	0.000
SM_CCo	7854,2.62,0.144,0,0,797,500.17	FG_AHR_10Vo	0.000
SM_GC	1.88,10.00,2.40,2.62,0.082,0.034,0.144,194,2606,797,-9.59,-1.02,500.17,0,0,0,0,0,0,26.86,26.86,26.69	MEM	229796
IRIDIUM_FIX	1305.38,14443.96,030315,114134	DATA_FILE_SIZE	20171,474
TT8_MAMPS	0.054677,0.054677	CAP_FILE_SIZE	77019,0
HUMID	41.65	CFSIZE	1024393216,1016348672
INTERNAL_PRESSURE	9.26244	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	24.30	INTR	0,11845.97,0x236db2,7,5
XPDR_PINGS	0	CURRENT	0.237,240.32,1
_24V_AH	24.46,3.763	GPS	030315,171343,1307.475,14444.340,15,0.8,15,1.1,0.0,0.0,9,21.4
_10V_AH	10.35,3.307

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	237	137.77	SBE_CT	315	23	178.95
Roll_motor	66	48	79.91	nil	0	0	0.00
VBD_pump_during_apogee	580	1056	14995.61	nil	0	0	0.00
VBD_pump_during_surface	2	143	9.23	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	218	78	416.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	26	2.60
TT8	0	0	0.00
LPSleep	5969	2	135.31
TT8_Active	668	18	129.55
TT8_Sampling	1443	44	671.23
TT8_CF8	40	61	25.44
TT8_Kalman	0	0	0.00
Analog_circuits	1453	15	225.73
GPS_charging	0	0	0.00
Compass	954	8	81.38
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.85	-243.3	193	2625	711	670	0.0	0.0	0	68	0.00	0.00	-54.22	0.000	16386	0.000	0.000	192	2624	2166	2125	2207	0	0	0	0	0	0	26.75	28.83	26.82
69	-0.85	-243.3	193	2625	2127	2208	3.0	-5.6	9	121	11.55	2.15	-35.33	0.000	18948	0.237	0.044	3010	1206	3834	3782	3886	0	0	0	0	0	0	26.28	25.43	26.42
195	-0.85	-243.3	3011	1206	3784	3888	34.1	-27.9	33	202	0.00	2.12	0.00	0.000	1030	0.000	0.034	3002	2594	3835	3782	3888	0	0	0	0	0	0	26.66	26.63	26.70
501	-0.85	-243.3	3002	2594	3784	3888	122.1	-24.4	69	505	0.00	1.70	0.00	0.000	260	0.000	0.045	2994	3708	3835	3783	3888	0	0	0	0	0	0	27.03	26.77	27.08
636	-0.85	-243.3	2993	3708	3784	3889	155.8	-26.3	82	643	0.00	1.62	0.00	0.000	1030	0.000	0.024	3000	2580	3836	3783	3889	0	0	0	0	0	0	26.93	26.90	26.95
961	-0.85	-243.3	3000	2580	3788	3892	216.0	-16.1	109	966	0.00	2.00	0.00	0.000	516	0.000	0.028	3007	1212	3839	3786	3892	0	0	0	0	0	0	27.15	26.94	27.22
985	-0.85	-243.3	3007	1213	3787	3894	216.0	-16.1	109	993	0.00	2.10	0.00	0.000	1030	0.000	0.034	2998	2603	3839	3786	3893	0	0	0	0	0	0	26.96	26.93	26.98
1291	-0.85	-243.3	2998	2605	3787	3894	267.1	-15.2	120	1296	0.00	1.67	0.00	0.000	260	0.000	0.046	2989	3708	3840	3787	3893	0	0	0	0	0	0	27.21	26.95	27.27
1321	-0.85	-243.3	2990	3709	3788	3895	271.4	-14.9	121	1325	0.00	1.60	0.00	0.000	1030	0.000	0.024	2995	2586	3840	3787	3893	0	0	0	0	0	0	27.08	27.04	27.10
1651	-0.85	-243.3	2995	2588	3788	3895	322.4	-17.3	132	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2587	3840	3787	3893	0	0	0	0	0	0	27.25	27.32	27.32
1951	-0.85	-243.3	2996	2588	3787	3894	374.7	-16.9	142	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2587	3840	3787	3893	0	0	0	0	0	0	27.28	27.35	27.34
2251	-0.85	-243.3	2995	2587	3787	3891	419.5	-14.0	152	2255	0.00	1.70	0.00	0.000	260	0.000	0.047	2988	3698	3837	3786	3889	0	0	0	0	0	0	27.30	27.05	27.36
2286	-0.85	-243.3	2988	3698	3788	3889	424.0	-14.4	153	2290	0.00	1.58	0.00	0.000	1030	0.000	0.026	2994	2599	3837	3786	3889	0	0	0	0	0	0	27.17	27.13	27.19
2611	-0.85	-243.3	2995	2599	3787	3885	473.9	-14.5	164	2616	0.00	2.03	0.00	0.000	516	0.000	0.031	3004	1212	3834	3786	3883	0	0	0	0	0	0	27.32	27.10	27.39
2645	-0.85	-243.3	3004	1211	3787	3882	478.0	-14.1	165	2650	0.00	2.10	0.00	0.000	1030	0.000	0.035	2996	2604	3834	3786	3882	0	0	0	0	0	0	27.13	27.09	27.15
2971	-0.85	-243.3	2995	2604	3783	3880	524.4	-14.1	176	2975	0.00	1.67	0.00	0.000	260	0.000	0.047	2987	3706	3831	3783	3880	0	0	0	0	0	0	27.33	27.07	27.39
2990	-0.85	-243.3	2987	3708	3783	3881	524.4	-14.1	176	2995	0.00	1.60	0.00	0.000	1030	0.000	0.027	2994	2595	3830	3782	3879	0	0	0	0	0	0	27.20	27.15	27.21
3301	-0.85	-243.3	2994	2594	3781	3874	573.9	-11.9	187	3305	0.00	1.70	0.00	0.000	260	0.000	0.044	2986	3716	3827	3780	3875	0	0	0	0	0	0	27.34	27.08	27.40
3510	end dive: NO_VERTICAL_VELOCITY
state	3510	begin apogee
3514	-0.17	0.0	2994	2425	3779	3873	574.1	0.0	194	3704	0.73	0.00	187.02	1.056	10246	0.122	0.000	3227	2418	2837	2816	2859	0	0	0	0	0	0	26.98	25.22	24.60
3705	end apogee: CONTROL_FINISHED_OK
state	3705	begin climb
3706	0.85	243.3	3229	2419	2813	2856	574.6	0.0	200	3906	1.10	2.28	192.27	1.008	10756	0.138	0.034	3555	1024	1841	1843	1840	0	0	0	0	0	0	25.25	25.11	24.55
3934	1.04	376.2	3555	1024	1838	1832	563.5	6.9	208	4049	0.20	2.25	108.97	0.965	11270	0.096	0.034	3621	2421	1301	1315	1288	0	0	0	0	0	0	25.58	25.60	24.46
4354	1.09	410.6	3621	2423	1299	1267	528.5	9.9	222	4387	0.00	2.22	28.40	1.040	8708	0.000	0.034	3631	1022	1158	1175	1142	0	0	0	0	0	0	26.58	25.73	25.06
4406	1.12	433.4	3632	1023	1171	1135	525.5	10.3	223	4431	0.00	2.20	20.62	0.999	9222	0.000	0.032	3627	2416	1071	1092	1050	0	0	0	0	0	0	26.00	25.97	24.90
4746	1.12	433.4	3627	2416	1074	1027	468.6	17.9	235	4747	0.00	0.00	0.00	0.000	6	0.000	0.000	3626	2416	1050	1073	1027	0	0	0	0	0	0	26.71	26.78	26.78
5046	1.12	433.4	3627	2415	1072	1024	415.6	17.0	245	5047	0.00	0.00	0.00	0.000	6	0.000	0.000	3627	2416	1048	1071	1025	0	0	0	0	0	0	26.93	27.00	26.99
5346	1.12	433.4	3627	2417	1071	1025	363.4	17.4	255	5350	0.00	1.98	0.00	0.000	260	0.000	0.049	3617	3686	1046	1069	1024	0	0	0	0	0	0	27.04	26.79	27.11
5366	1.12	433.4	3617	3686	1070	1023	363.4	17.4	255	5371	0.00	1.90	0.00	0.000	1030	0.000	0.028	3626	2399	1046	1068	1024	0	0	0	0	0	0	26.91	26.87	26.94
5676	1.12	433.4	3626	2399	1069	1022	302.1	19.6	266	5677	0.00	0.00	0.00	0.000	6	0.000	0.000	3626	2399	1045	1068	1022	0	0	0	0	0	0	27.13	27.20	27.19
5976	1.12	433.4	3626	2400	1067	1022	248.0	16.9	276	5980	0.00	2.05	0.00	0.000	516	0.000	0.034	3636	1038	1043	1066	1021	0	0	0	0	0	0	27.17	26.95	27.24
6021	1.12	433.4	3636	1040	1067	1021	243.2	16.3	277	6026	0.00	2.08	0.00	0.000	1030	0.000	0.034	3627	2412	1043	1066	1020	0	0	0	0	0	0	26.99	26.96	27.01
6326	1.12	433.4	3627	2411	1066	1019	195.8	15.3	289	6331	0.00	1.98	0.00	0.000	260	0.000	0.048	3617	3695	1042	1065	1019	0	0	0	0	0	0	27.22	26.95	27.28
6436	1.12	433.4	3617	3694	1065	1018	178.2	16.8	300	6441	0.00	1.85	0.00	0.000	1030	0.000	0.027	3626	2422	1040	1063	1018	0	0	0	0	0	0	27.08	27.05	27.09
6746	1.12	433.4	3626	2423	1063	1019	135.2	12.2	331	6751	0.00	1.95	0.00	0.000	260	0.000	0.047	3618	3687	1039	1062	1017	0	0	0	0	0	0	27.25	26.99	27.32
6781	1.12	433.4	3618	3687	1063	1017	131.4	12.4	334	6788	0.00	1.85	0.00	0.000	1030	0.000	0.026	3626	2413	1039	1062	1017	0	0	0	0	0	0	27.12	27.08	27.13
7086	1.20	488.4	3626	2414	1062	1018	99.8	9.3	365	7139	0.17	2.08	43.00	0.782	10756	0.154	0.033	3688	1041	837	864	810	0	0	0	0	0	0	26.88	26.09	25.70
7147	1.20	488.4	3688	1041	864	807	92.9	11.7	371	7152	0.00	2.12	0.00	0.000	1030	0.000	0.031	3688	2425	833	862	805	0	0	0	0	0	0	26.43	26.40	26.46
7457	1.20	488.4	3688	2426	859	798	55.1	11.7	402	7462	0.00	2.10	0.00	0.000	516	0.000	0.033	3697	1039	827	857	797	0	0	0	0	0	0	26.93	26.72	26.99
7512	1.20	488.4	3697	1040	859	798	47.5	14.9	409	7520	0.00	2.10	0.00	0.000	1030	0.000	0.031	3697	2426	827	858	797	0	0	0	0	0	0	26.77	26.74	26.80
7818	1.20	488.4	3697	2427	859	797	2.2	16.7	470	7825	0.00	2.10	0.00	0.000	516	0.000	0.034	3707	1033	828	859	797	0	0	0	0	0	0	27.09	26.87	27.15
7828	end climb: SURFACE_DEPTH_REACHED
state	7828	begin surface coast
7838	end surface coast: CONTROL_FINISHED_OK
state	7838	begin surface