Glider dive log

MIRC Mar14 * SG178 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 20 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 7 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 42 ALTIM_PULSE 1

D_FLARE 3 TGT_DEFAULT_LON -122.4 R_STBD_OVSHOOT 40 ALTIM_SENSITIVITY 5

D_TGT 660 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 220 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_MISSION 250 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 2870 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 38 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 2 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 0.003 ROLL_MAX 3782 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 1.6100001e-05 C_ROLL_DIVE 2150 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 660 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 38 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MAX 3954 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.6100001e-05 PITCH_MIN 165 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 HEADING -1 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 220

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 250

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 2870 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 2150 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 7 NAV_MODE 2 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 42 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 40 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 020315,112634,1310.7937,14433.9492,7,2.0,28,1.5,0.7,249.1,8,9.0 SPEED_LIMITS 0.173,0.320

_CALLS 1 TGT_NAME S1

_XMS_NAKs 0 TGT_LATLONG 1312.720,14446.380

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 124.5,22794,-13.2,-10.000,-17.34,3646

_SM_ANGLEo -72.8 D_GRID 1320

GPS2 020315,113037,1310.7963,14433.8926,11,0.9,11,1.5,0.7,270.1,8,6.8

Post-dive calculations and measurements:

FINISH 0.1,1.022110 FG_AHR_24Vo 0.000

SM_CCo 10731,96.10,0.063,0,0,901,500.17 FG_AHR_10Vo 0.000

SM_GC 0.60,7.75,0.08,96.10,0.047,0.110,0.063,162,2154,901,-8.42,-1.19,500.17,0,0,0,0,0,0,27.10,27.24,26.96 MEM 229988

IRIDIUM_FIX 1307.59,14435.98,020315,083220 DATA_FILE_SIZE 26742,598

TT8_MAMPS 0.050932,0.050932 CAP_FILE_SIZE 110049,0

HUMID 46.69 CFSIZE 260034560,256598016

INTERNAL_PRESSURE 9.45349 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.90 INTR 1,6584.85,0x236db2,2,5

XPDR_PINGS 1 CURRENT 0.356,331.77,1

_24V_AH 24.52,1.290 GPS 020315,143236,1309.040,14434.322,59,0.9,59,1.5,0.5,271.1,10,6.7

_10V_AH 10.46,1.750

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 249 121.84 SBE_CT 402 24 244.09

Roll_motor 91 110 247.15 nil 0 0 0.00

VBD_pump_during_apogee 429 1053 11082.14 nil 0 0 0.00

VBD_pump_during_surface 96 63 149.62 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 178 83 364.55 nil 0 0 0.00

Transponder_ping 0 420 2.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 30 4.60

TT8 0 0 0.00

LPSleep 8090 2 185.34

TT8_Active 631 16 106.73

TT8_Sampling 2219 46 1070.71

TT8_CF8 124 54 70.60

TT8_Kalman 0 0 0.00

Analog_circuits 1686 15 269.90

GPS_charging 0 0 0.00

Compass 1660 0 13.03

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 -0.78 -243.3 127 2166 912 885 0.0 0.0 0 107 0.00 0.00 -91.53 0.000 16386 0.000 0.000 127 2162 3125 3173 3077 0 0 0 0 0 0 27.05 28.83 27.12

109 -0.78 -243.3 127 2162 3174 3078 3.3 -9.8 16 139 10.43 2.15 -13.88 0.000 18948 0.249 0.049 2613 730 3933 4004 3863 0 0 0 0 0 0 26.52 26.27 26.79

158 -0.78 -243.3 2614 731 4004 3867 23.3 -33.2 25 165 0.00 2.20 0.00 0.000 1030 0.000 0.038 2605 2139 3935 4004 3866 0 0 0 0 0 0 26.88 26.85 26.91

464 -0.78 -243.3 2604 2139 4007 3868 102.6 -25.3 66 469 0.00 2.22 0.00 0.000 260 0.000 0.050 2594 3557 3936 4005 3867 0 0 0 0 0 0 27.26 26.98 27.32

694 -0.78 -243.3 2595 3557 4006 3869 149.1 -14.8 89 698 0.00 2.12 0.00 0.000 1030 0.000 0.028 2594 2133 3938 4007 3869 0 0 0 0 0 0 27.15 27.13 27.17

1004 -0.78 -243.3 2595 2131 4012 3870 190.7 -12.6 120 1008 0.00 2.22 0.00 0.000 260 0.000 0.050 2586 3551 3940 4012 3869 0 0 0 0 0 0 27.40 27.12 27.46

1164 -0.78 -243.3 2586 3552 4012 3872 208.1 -11.2 131 1168 0.08 2.08 0.00 0.000 3078 0.125 0.028 2613 2148 3942 4012 3872 0 0 0 0 0 0 27.05 27.22 27.13

1485 -0.78 -243.3 2612 2146 4013 3874 234.1 -8.4 142 1489 0.00 2.20 0.00 0.000 260 0.000 0.049 2605 3564 3942 4012 3873 0 0 0 0 0 0 27.46 27.18 27.53

1654 -0.78 -243.3 2605 3565 4012 3874 248.5 -9.7 147 1658 0.00 2.10 0.00 0.000 1030 0.000 0.029 2605 2146 3943 4012 3874 0 0 0 0 0 0 27.31 27.28 27.32

1965 -0.78 -243.3 2605 2144 4011 3874 275.0 -8.0 158 1968 0.00 2.17 0.00 0.000 260 0.000 0.050 2596 3557 3943 4012 3874 0 0 0 0 0 0 27.50 27.21 27.57

2110 -0.78 -243.3 2597 3558 4010 3874 283.2 -6.8 162 2116 0.00 2.08 0.00 0.000 1030 0.000 0.031 2596 2150 3942 4012 3873 0 0 0 0 0 0 27.35 27.31 27.37

2415 -0.78 -243.3 2597 2149 4010 3874 301.8 -6.0 173 2418 0.00 2.20 0.00 0.000 260 0.000 0.052 2589 3562 3942 4011 3873 0 0 0 0 0 0 27.53 27.24 27.59

2599 -0.78 -243.3 2588 3562 4010 3874 317.9 -9.6 179 2603 0.00 2.10 0.00 0.000 1030 0.000 0.031 2589 2156 3941 4009 3873 0 0 0 0 0 0 27.36 27.33 27.37

2925 -0.78 -243.3 2589 2155 4006 3873 343.0 -6.0 190 2928 0.00 2.20 0.00 0.000 260 0.000 0.054 2584 3561 3939 4006 3873 0 0 0 0 0 0 27.54 27.25 27.61

3119 -0.78 -243.3 2585 3562 4004 3874 358.0 -8.9 196 3123 0.08 2.12 0.00 0.000 3078 0.118 0.032 2613 2144 3938 4004 3873 0 0 0 0 0 0 27.18 27.34 27.26

3435 -0.78 -243.3 2612 2143 4005 3870 378.0 -5.5 207 3438 0.00 2.25 0.00 0.000 260 0.000 0.055 2607 3575 3936 4002 3870 0 0 0 0 0 0 27.55 27.26 27.62

3504 -0.78 -243.3 2606 3577 4004 3871 381.6 -5.9 209 3508 0.00 2.15 0.00 0.000 1030 0.000 0.032 2607 2144 3936 4002 3870 0 0 0 0 0 0 27.38 27.36 27.40

3824 -0.78 -243.3 2608 2141 4000 3867 410.8 -10.0 220 3828 0.00 2.25 0.00 0.000 260 0.000 0.054 2607 3560 3933 4000 3867 0 0 0 0 0 0 27.56 27.27 27.62

4044 -0.78 -243.3 2606 3560 4000 3866 432.4 -10.2 227 4048 0.00 2.12 0.00 0.000 1030 0.000 0.031 2607 2143 3932 3998 3866 0 0 0 0 0 0 27.38 27.37 27.41

4365 -0.78 -243.3 2608 2141 3996 3862 463.7 -9.5 238 4368 0.00 2.20 0.00 0.000 260 0.000 0.053 2607 3566 3929 3996 3862 0 0 0 0 0 0 27.57 27.27 27.64

4505 -0.78 -243.3 2608 3566 3994 3862 475.1 -9.5 242 4508 0.00 2.10 0.00 0.000 1030 0.000 0.032 2607 2147 3928 3994 3862 0 0 0 0 0 0 27.41 27.36 27.43

4815 -0.78 -243.3 2606 2147 3994 3862 503.5 -8.1 253 4818 0.00 2.22 0.00 0.000 260 0.000 0.054 2607 3566 3926 3992 3860 0 0 0 0 0 0 27.57 27.28 27.64

5014 -0.78 -243.3 2608 3566 3990 3860 519.0 -8.6 259 5018 0.00 2.12 0.00 0.000 1030 0.000 0.032 2607 2143 3924 3990 3859 0 0 0 0 0 0 27.40 27.38 27.41

5325 -0.78 -243.3 2608 2142 3989 3857 546.7 -8.6 270 5328 0.00 2.20 0.00 0.000 260 0.000 0.054 2607 3560 3922 3989 3856 0 0 0 0 0 0 27.58 27.27 27.64

5504 -0.78 -243.3 2606 3561 3988 3856 563.2 -9.2 276 5509 0.00 2.12 0.00 0.000 1030 0.000 0.033 2607 2143 3920 3986 3855 0 0 0 0 0 0 27.40 27.37 27.42

5835 -0.78 -243.3 2608 2140 3985 3854 591.0 -8.2 287 5838 0.00 2.22 0.00 0.000 260 0.000 0.055 2607 3572 3919 3985 3853 0 0 0 0 0 0 27.58 27.27 27.65

6045 -0.78 -243.3 2608 3572 3982 3853 608.8 -8.9 294 6048 0.00 2.12 0.00 0.000 1030 0.000 0.032 2607 2138 3917 3982 3853 0 0 0 0 0 0 27.42 27.37 27.43

6375 -0.78 -243.3 2606 2137 3983 3850 638.5 -9.6 305 6378 0.00 2.22 0.00 0.000 260 0.000 0.055 2607 3557 3915 3982 3849 0 0 0 0 0 0 27.58 27.27 27.65

6569 -0.78 -243.3 2608 3558 3979 3850 657.8 -11.0 311 6574 0.00 2.10 0.00 0.000 1030 0.000 0.033 2607 2152 3914 3979 3849 0 0 0 0 0 0 27.43 27.37 27.42

6583 end dive: TARGET_DEPTH_EXCEEDED

state 6583 begin apogee

6587 -0.13 0.0 2607 2150 3981 3850 661.2 -11.2 312 6787 0.60 0.00 198.12 1.053 10246 0.057 0.000 2847 2147 2941 2990 2893 0 0 0 0 0 0 27.33 25.25 24.58

6788 end apogee: CONTROL_FINISHED_OK

state 6788 begin climb

6789 0.78 243.3 2847 2148 2991 2893 674.5 0.0 318 7007 0.75 2.40 207.00 1.041 11012 0.046 0.043 3141 709 1947 1998 1897 0 0 0 0 0 0 25.48 25.19 24.52

7232 0.78 243.3 3142 709 1991 1887 610.7 20.1 333 7236 0.00 2.22 0.00 0.000 1030 0.000 0.037 3142 2098 1940 1992 1888 0 0 0 0 0 0 26.50 26.46 26.53

7547 0.78 243.3 3141 2099 1990 1887 533.7 24.5 344 7551 0.00 2.22 0.00 0.000 516 0.000 0.045 3151 708 1938 1989 1887 0 0 0 0 0 0 27.01 26.78 27.08

7632 0.78 243.3 3151 708 1990 1888 518.6 24.8 346 7639 0.00 2.20 0.00 0.000 1030 0.000 0.037 3151 2104 1938 1989 1887 0 0 0 0 0 0 26.88 26.84 26.90

7937 0.78 243.3 3152 2105 1987 1887 439.8 23.9 357 7938 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 2104 1936 1987 1886 0 0 0 0 0 0 27.19 27.27 27.25

8237 0.78 243.3 3151 2105 1988 1886 369.6 24.0 367 8240 0.00 2.20 0.00 0.000 516 0.000 0.047 3162 708 1936 1986 1886 0 0 0 0 0 0 27.27 27.02 27.34

8287 0.78 243.3 3162 708 1986 1886 362.6 24.0 368 8291 0.12 2.17 0.00 0.000 5126 0.168 0.038 3125 2098 1936 1986 1886 0 0 0 0 0 0 26.86 27.04 26.96

8597 0.78 243.3 3124 2099 1986 1885 295.5 19.6 379 8600 0.00 2.22 0.00 0.000 260 0.000 0.054 3125 3495 1933 1984 1883 0 0 0 0 0 0 27.33 27.05 27.40

8772 0.78 243.3 3125 3496 1981 1884 265.4 20.0 384 8778 0.00 2.12 0.00 0.000 1030 0.000 0.034 3133 2110 1932 1981 1883 0 0 0 0 0 0 27.17 27.14 27.19

9077 0.78 243.3 3132 2110 1982 1882 200.7 18.4 395 9080 0.00 2.20 0.00 0.000 516 0.000 0.046 3144 702 1931 1980 1882 0 0 0 0 0 0 27.39 27.13 27.46

9172 0.78 243.3 3143 703 1982 1882 184.2 17.4 402 9179 0.00 2.17 0.00 0.000 1030 0.000 0.037 3144 2099 1931 1980 1882 0 0 0 0 0 0 27.19 27.15 27.20

9477 0.78 243.3 3143 2100 1981 1881 138.1 14.0 433 9480 0.00 2.20 0.00 0.000 516 0.000 0.045 3154 698 1929 1979 1880 0 0 0 0 0 0 27.41 27.17 27.49

9613 0.78 243.3 3155 698 1979 1881 118.4 14.4 446 9619 0.12 2.17 0.00 0.000 5126 0.182 0.037 3125 2119 1929 1979 1880 0 0 0 0 0 0 27.02 27.19 27.20

9917 0.84 274.5 3124 2119 1980 1880 91.1 9.1 477 9942 0.00 0.00 23.92 0.643 8710 0.000 0.000 3125 2119 1821 1870 1772 0 0 0 0 0 0 27.44 26.71 26.18

10237 0.84 274.5 3124 2119 1867 1770 57.9 10.1 509 10240 0.00 2.17 0.00 0.000 260 0.000 0.050 3125 3501 1817 1865 1769 0 0 0 0 0 0 27.26 26.99 27.32

10407 0.84 274.5 3124 3502 1868 1770 37.6 13.6 536 10414 0.00 2.12 0.00 0.000 1030 0.000 0.031 3133 2099 1817 1866 1769 0 0 0 0 0 0 27.13 27.10 27.15

10696 end climb: SURFACE_DEPTH_REACHED

state 10696 begin surface coast

10718 end surface coast: CONTROL_FINISHED_OK

state 10718 begin surface

ID	178	HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	20	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	7	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	42	ALTIM_PULSE	1
D_FLARE	3	TGT_DEFAULT_LON	-122.4	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	5
D_TGT	660	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	220	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_MISSION	250	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	2870	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	38	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	2	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	0.003	ROLL_MAX	3782	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	1.6100001e-05	C_ROLL_DIVE	2150	ALTIM_TOP_TURN_MARGIN	0

GPS1	020315,112634,1310.7937,14433.9492,7,2.0,28,1.5,0.7,249.1,8,9.0	SPEED_LIMITS	0.173,0.320
_CALLS	1	TGT_NAME	S1
_XMS_NAKs	0	TGT_LATLONG	1312.720,14446.380
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	124.5,22794,-13.2,-10.000,-17.34,3646
_SM_ANGLEo	-72.8	D_GRID	1320
GPS2	020315,113037,1310.7963,14433.8926,11,0.9,11,1.5,0.7,270.1,8,6.8

FINISH	0.1,1.022110	FG_AHR_24Vo	0.000
SM_CCo	10731,96.10,0.063,0,0,901,500.17	FG_AHR_10Vo	0.000
SM_GC	0.60,7.75,0.08,96.10,0.047,0.110,0.063,162,2154,901,-8.42,-1.19,500.17,0,0,0,0,0,0,27.10,27.24,26.96	MEM	229988
IRIDIUM_FIX	1307.59,14435.98,020315,083220	DATA_FILE_SIZE	26742,598
TT8_MAMPS	0.050932,0.050932	CAP_FILE_SIZE	110049,0
HUMID	46.69	CFSIZE	260034560,256598016
INTERNAL_PRESSURE	9.45349	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.90	INTR	1,6584.85,0x236db2,2,5
XPDR_PINGS	1	CURRENT	0.356,331.77,1
_24V_AH	24.52,1.290	GPS	020315,143236,1309.040,14434.322,59,0.9,59,1.5,0.5,271.1,10,6.7
_10V_AH	10.46,1.750

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	249	121.84	SBE_CT	402	24	244.09
Roll_motor	91	110	247.15	nil	0	0	0.00
VBD_pump_during_apogee	429	1053	11082.14	nil	0	0	0.00
VBD_pump_during_surface	96	63	149.62	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	178	83	364.55	nil	0	0	0.00
Transponder_ping	0	420	2.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	30	4.60
TT8	0	0	0.00
LPSleep	8090	2	185.34
TT8_Active	631	16	106.73
TT8_Sampling	2219	46	1070.71
TT8_CF8	124	54	70.60
TT8_Kalman	0	0	0.00
Analog_circuits	1686	15	269.90
GPS_charging	0	0	0.00
Compass	1660	0	13.03
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	-0.78	-243.3	127	2166	912	885	0.0	0.0	0	107	0.00	0.00	-91.53	0.000	16386	0.000	0.000	127	2162	3125	3173	3077	0	0	0	0	0	0	27.05	28.83	27.12
109	-0.78	-243.3	127	2162	3174	3078	3.3	-9.8	16	139	10.43	2.15	-13.88	0.000	18948	0.249	0.049	2613	730	3933	4004	3863	0	0	0	0	0	0	26.52	26.27	26.79
158	-0.78	-243.3	2614	731	4004	3867	23.3	-33.2	25	165	0.00	2.20	0.00	0.000	1030	0.000	0.038	2605	2139	3935	4004	3866	0	0	0	0	0	0	26.88	26.85	26.91
464	-0.78	-243.3	2604	2139	4007	3868	102.6	-25.3	66	469	0.00	2.22	0.00	0.000	260	0.000	0.050	2594	3557	3936	4005	3867	0	0	0	0	0	0	27.26	26.98	27.32
694	-0.78	-243.3	2595	3557	4006	3869	149.1	-14.8	89	698	0.00	2.12	0.00	0.000	1030	0.000	0.028	2594	2133	3938	4007	3869	0	0	0	0	0	0	27.15	27.13	27.17
1004	-0.78	-243.3	2595	2131	4012	3870	190.7	-12.6	120	1008	0.00	2.22	0.00	0.000	260	0.000	0.050	2586	3551	3940	4012	3869	0	0	0	0	0	0	27.40	27.12	27.46
1164	-0.78	-243.3	2586	3552	4012	3872	208.1	-11.2	131	1168	0.08	2.08	0.00	0.000	3078	0.125	0.028	2613	2148	3942	4012	3872	0	0	0	0	0	0	27.05	27.22	27.13
1485	-0.78	-243.3	2612	2146	4013	3874	234.1	-8.4	142	1489	0.00	2.20	0.00	0.000	260	0.000	0.049	2605	3564	3942	4012	3873	0	0	0	0	0	0	27.46	27.18	27.53
1654	-0.78	-243.3	2605	3565	4012	3874	248.5	-9.7	147	1658	0.00	2.10	0.00	0.000	1030	0.000	0.029	2605	2146	3943	4012	3874	0	0	0	0	0	0	27.31	27.28	27.32
1965	-0.78	-243.3	2605	2144	4011	3874	275.0	-8.0	158	1968	0.00	2.17	0.00	0.000	260	0.000	0.050	2596	3557	3943	4012	3874	0	0	0	0	0	0	27.50	27.21	27.57
2110	-0.78	-243.3	2597	3558	4010	3874	283.2	-6.8	162	2116	0.00	2.08	0.00	0.000	1030	0.000	0.031	2596	2150	3942	4012	3873	0	0	0	0	0	0	27.35	27.31	27.37
2415	-0.78	-243.3	2597	2149	4010	3874	301.8	-6.0	173	2418	0.00	2.20	0.00	0.000	260	0.000	0.052	2589	3562	3942	4011	3873	0	0	0	0	0	0	27.53	27.24	27.59
2599	-0.78	-243.3	2588	3562	4010	3874	317.9	-9.6	179	2603	0.00	2.10	0.00	0.000	1030	0.000	0.031	2589	2156	3941	4009	3873	0	0	0	0	0	0	27.36	27.33	27.37
2925	-0.78	-243.3	2589	2155	4006	3873	343.0	-6.0	190	2928	0.00	2.20	0.00	0.000	260	0.000	0.054	2584	3561	3939	4006	3873	0	0	0	0	0	0	27.54	27.25	27.61
3119	-0.78	-243.3	2585	3562	4004	3874	358.0	-8.9	196	3123	0.08	2.12	0.00	0.000	3078	0.118	0.032	2613	2144	3938	4004	3873	0	0	0	0	0	0	27.18	27.34	27.26
3435	-0.78	-243.3	2612	2143	4005	3870	378.0	-5.5	207	3438	0.00	2.25	0.00	0.000	260	0.000	0.055	2607	3575	3936	4002	3870	0	0	0	0	0	0	27.55	27.26	27.62
3504	-0.78	-243.3	2606	3577	4004	3871	381.6	-5.9	209	3508	0.00	2.15	0.00	0.000	1030	0.000	0.032	2607	2144	3936	4002	3870	0	0	0	0	0	0	27.38	27.36	27.40
3824	-0.78	-243.3	2608	2141	4000	3867	410.8	-10.0	220	3828	0.00	2.25	0.00	0.000	260	0.000	0.054	2607	3560	3933	4000	3867	0	0	0	0	0	0	27.56	27.27	27.62
4044	-0.78	-243.3	2606	3560	4000	3866	432.4	-10.2	227	4048	0.00	2.12	0.00	0.000	1030	0.000	0.031	2607	2143	3932	3998	3866	0	0	0	0	0	0	27.38	27.37	27.41
4365	-0.78	-243.3	2608	2141	3996	3862	463.7	-9.5	238	4368	0.00	2.20	0.00	0.000	260	0.000	0.053	2607	3566	3929	3996	3862	0	0	0	0	0	0	27.57	27.27	27.64
4505	-0.78	-243.3	2608	3566	3994	3862	475.1	-9.5	242	4508	0.00	2.10	0.00	0.000	1030	0.000	0.032	2607	2147	3928	3994	3862	0	0	0	0	0	0	27.41	27.36	27.43
4815	-0.78	-243.3	2606	2147	3994	3862	503.5	-8.1	253	4818	0.00	2.22	0.00	0.000	260	0.000	0.054	2607	3566	3926	3992	3860	0	0	0	0	0	0	27.57	27.28	27.64
5014	-0.78	-243.3	2608	3566	3990	3860	519.0	-8.6	259	5018	0.00	2.12	0.00	0.000	1030	0.000	0.032	2607	2143	3924	3990	3859	0	0	0	0	0	0	27.40	27.38	27.41
5325	-0.78	-243.3	2608	2142	3989	3857	546.7	-8.6	270	5328	0.00	2.20	0.00	0.000	260	0.000	0.054	2607	3560	3922	3989	3856	0	0	0	0	0	0	27.58	27.27	27.64
5504	-0.78	-243.3	2606	3561	3988	3856	563.2	-9.2	276	5509	0.00	2.12	0.00	0.000	1030	0.000	0.033	2607	2143	3920	3986	3855	0	0	0	0	0	0	27.40	27.37	27.42
5835	-0.78	-243.3	2608	2140	3985	3854	591.0	-8.2	287	5838	0.00	2.22	0.00	0.000	260	0.000	0.055	2607	3572	3919	3985	3853	0	0	0	0	0	0	27.58	27.27	27.65
6045	-0.78	-243.3	2608	3572	3982	3853	608.8	-8.9	294	6048	0.00	2.12	0.00	0.000	1030	0.000	0.032	2607	2138	3917	3982	3853	0	0	0	0	0	0	27.42	27.37	27.43
6375	-0.78	-243.3	2606	2137	3983	3850	638.5	-9.6	305	6378	0.00	2.22	0.00	0.000	260	0.000	0.055	2607	3557	3915	3982	3849	0	0	0	0	0	0	27.58	27.27	27.65
6569	-0.78	-243.3	2608	3558	3979	3850	657.8	-11.0	311	6574	0.00	2.10	0.00	0.000	1030	0.000	0.033	2607	2152	3914	3979	3849	0	0	0	0	0	0	27.43	27.37	27.42
6583	end dive: TARGET_DEPTH_EXCEEDED
state	6583	begin apogee
6587	-0.13	0.0	2607	2150	3981	3850	661.2	-11.2	312	6787	0.60	0.00	198.12	1.053	10246	0.057	0.000	2847	2147	2941	2990	2893	0	0	0	0	0	0	27.33	25.25	24.58
6788	end apogee: CONTROL_FINISHED_OK
state	6788	begin climb
6789	0.78	243.3	2847	2148	2991	2893	674.5	0.0	318	7007	0.75	2.40	207.00	1.041	11012	0.046	0.043	3141	709	1947	1998	1897	0	0	0	0	0	0	25.48	25.19	24.52
7232	0.78	243.3	3142	709	1991	1887	610.7	20.1	333	7236	0.00	2.22	0.00	0.000	1030	0.000	0.037	3142	2098	1940	1992	1888	0	0	0	0	0	0	26.50	26.46	26.53
7547	0.78	243.3	3141	2099	1990	1887	533.7	24.5	344	7551	0.00	2.22	0.00	0.000	516	0.000	0.045	3151	708	1938	1989	1887	0	0	0	0	0	0	27.01	26.78	27.08
7632	0.78	243.3	3151	708	1990	1888	518.6	24.8	346	7639	0.00	2.20	0.00	0.000	1030	0.000	0.037	3151	2104	1938	1989	1887	0	0	0	0	0	0	26.88	26.84	26.90
7937	0.78	243.3	3152	2105	1987	1887	439.8	23.9	357	7938	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	2104	1936	1987	1886	0	0	0	0	0	0	27.19	27.27	27.25
8237	0.78	243.3	3151	2105	1988	1886	369.6	24.0	367	8240	0.00	2.20	0.00	0.000	516	0.000	0.047	3162	708	1936	1986	1886	0	0	0	0	0	0	27.27	27.02	27.34
8287	0.78	243.3	3162	708	1986	1886	362.6	24.0	368	8291	0.12	2.17	0.00	0.000	5126	0.168	0.038	3125	2098	1936	1986	1886	0	0	0	0	0	0	26.86	27.04	26.96
8597	0.78	243.3	3124	2099	1986	1885	295.5	19.6	379	8600	0.00	2.22	0.00	0.000	260	0.000	0.054	3125	3495	1933	1984	1883	0	0	0	0	0	0	27.33	27.05	27.40
8772	0.78	243.3	3125	3496	1981	1884	265.4	20.0	384	8778	0.00	2.12	0.00	0.000	1030	0.000	0.034	3133	2110	1932	1981	1883	0	0	0	0	0	0	27.17	27.14	27.19
9077	0.78	243.3	3132	2110	1982	1882	200.7	18.4	395	9080	0.00	2.20	0.00	0.000	516	0.000	0.046	3144	702	1931	1980	1882	0	0	0	0	0	0	27.39	27.13	27.46
9172	0.78	243.3	3143	703	1982	1882	184.2	17.4	402	9179	0.00	2.17	0.00	0.000	1030	0.000	0.037	3144	2099	1931	1980	1882	0	0	0	0	0	0	27.19	27.15	27.20
9477	0.78	243.3	3143	2100	1981	1881	138.1	14.0	433	9480	0.00	2.20	0.00	0.000	516	0.000	0.045	3154	698	1929	1979	1880	0	0	0	0	0	0	27.41	27.17	27.49
9613	0.78	243.3	3155	698	1979	1881	118.4	14.4	446	9619	0.12	2.17	0.00	0.000	5126	0.182	0.037	3125	2119	1929	1979	1880	0	0	0	0	0	0	27.02	27.19	27.20
9917	0.84	274.5	3124	2119	1980	1880	91.1	9.1	477	9942	0.00	0.00	23.92	0.643	8710	0.000	0.000	3125	2119	1821	1870	1772	0	0	0	0	0	0	27.44	26.71	26.18
10237	0.84	274.5	3124	2119	1867	1770	57.9	10.1	509	10240	0.00	2.17	0.00	0.000	260	0.000	0.050	3125	3501	1817	1865	1769	0	0	0	0	0	0	27.26	26.99	27.32
10407	0.84	274.5	3124	3502	1868	1770	37.6	13.6	536	10414	0.00	2.12	0.00	0.000	1030	0.000	0.031	3133	2099	1817	1866	1769	0	0	0	0	0	0	27.13	27.10	27.15
10696	end climb: SURFACE_DEPTH_REACHED
state	10696	begin surface coast
10718	end surface coast: CONTROL_FINISHED_OK
state	10718	begin surface