Glider dive log

MIRC Mar14 * SG204 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 HEADING -1 C_ROLL_CLIMB 2250 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 15 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 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 53 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 35 ALTIM_SENSITIVITY 2

D_TGT 660 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 8 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 1 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 0.0012300001 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 200 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_MISSION 240 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 3310 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 25 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 2200 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 660 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 25 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 0.0012300001 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 200

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 240

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 3310 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2250 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2200 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 7 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 53 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 35 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 SEABIRD_C_G -9.8023682 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 1 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 020315,084030,1310.9967,14433.7070,40,0.9,40,1.1,0.5,285.8,8,17.6 SPEED_LIMITS 0.191,0.336

_CALLS 1 TGT_NAME N1

_XMS_NAKs 0 TGT_LATLONG 1312.720,14446.380

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 88.3,23150,-14.4,-11.000,-18.13,3362

_SM_ANGLEo -64.6 D_GRID 1388

GPS2 020315,084411,1311.0177,14433.6592,5,0.9,5,1.1,2.9,16.7,7,14.9

Post-dive calculations and measurements:

FINISH 0.3,1.006737 FG_AHR_24Vo 0.000

SM_CCo 10804,0.00,0.000,0,0,682,529.11 FG_AHR_10Vo 0.000

SM_GC 1.24,10.15,0.00,0.00,0.084,0.000,0.000,200,2240,682,-9.65,1.13,529.11,0,0,0,0,0,0,26.74,27.06,26.79 MEM 229104

IRIDIUM_FIX 1305.38,14432.89,020315,053859 DATA_FILE_SIZE 26735,578

TT8_MAMPS 0.053928,0.053928 CAP_FILE_SIZE 105269,0

HUMID 44.17 CFSIZE 1024393216,1016938496

INTERNAL_PRESSURE 9.23314 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 24.10 INTR 1,10732.52,0x236db2,7,5

XPDR_PINGS 0 CURRENT 0.078,172.39,1

_24V_AH 24.44,2.012 GPS 020315,114500,1310.150,14434.846,18,1.0,18,1.1,0.9,258.3,7,37.5

_10V_AH 10.34,2.856

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 237 138.09 SBE_CT 384 23 218.41

Roll_motor 89 124 272.45 nil 0 0 0.00

VBD_pump_during_apogee 621 1191 18079.87 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 PAAM 0 0 0.00

Iridium_during_xfer 173 78 334.60 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 26 1.77

TT8 0 0 0.00

LPSleep 8142 2 184.39

TT8_Active 698 18 135.09

TT8_Sampling 2132 44 990.70

TT8_CF8 46 61 29.40

TT8_Kalman 0 0 0.00

Analog_circuits 1751 15 271.62

GPS_charging 0 0 0.00

Compass 1598 8 136.17

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.87 -243.3 197 2242 635 564 0.0 0.0 0 78 0.00 0.00 -64.47 0.000 16386 0.000 0.000 196 2242 2360 2314 2406 0 0 0 0 0 0 26.91 28.83 26.98

80 -0.87 -243.3 197 2242 2316 2406 3.3 -6.1 11 126 11.55 2.12 -29.00 0.000 18948 0.237 0.047 3032 808 3830 3778 3883 0 0 0 0 0 0 26.36 26.16 26.64

140 -0.87 -243.3 3032 808 3781 3884 18.3 -25.2 22 147 0.00 2.12 0.00 0.000 1030 0.000 0.032 3022 2207 3832 3780 3884 0 0 0 0 0 0 26.76 26.72 26.78

445 -0.87 -243.3 3022 2208 3781 3885 99.7 -27.3 65 450 0.00 2.12 0.00 0.000 260 0.000 0.044 3012 3604 3832 3780 3885 0 0 0 0 0 0 27.12 26.84 27.17

625 -0.87 -243.3 3012 3604 3781 3885 145.6 -20.5 83 630 0.00 2.05 0.00 0.000 1030 0.000 0.025 3019 2200 3832 3780 3885 0 0 0 0 0 0 27.00 26.96 27.02

935 -0.87 -243.3 3019 2195 3785 3889 197.8 -14.4 114 940 0.00 2.15 0.00 0.000 260 0.000 0.046 3010 3604 3835 3782 3888 0 0 0 0 0 0 27.24 26.96 27.30

1080 -0.87 -243.3 3010 3605 3785 3890 215.6 -14.9 120 1088 0.00 2.05 0.00 0.000 1030 0.000 0.025 3019 2187 3836 3783 3889 0 0 0 0 0 0 27.09 27.07 27.10

1386 -0.87 -243.3 3018 2185 3786 3891 257.8 -11.2 131 1390 0.00 2.15 0.00 0.000 260 0.000 0.047 3009 3600 3837 3784 3890 0 0 0 0 0 0 27.30 27.03 27.36

1465 -0.87 -243.3 3009 3600 3785 3891 265.5 -12.1 133 1470 0.00 2.03 0.00 0.000 1030 0.000 0.024 3018 2187 3837 3785 3889 0 0 0 0 0 0 27.14 27.13 27.16

1776 -0.87 -243.3 3019 2183 3786 3889 308.2 -13.7 144 1780 0.00 2.15 0.00 0.000 260 0.000 0.045 3009 3600 3837 3785 3889 0 0 0 0 0 0 27.33 27.05 27.39

1970 -0.87 -243.3 3010 3600 3786 3891 330.1 -11.8 150 1975 0.00 2.03 0.00 0.000 1030 0.000 0.025 3018 2200 3837 3785 3889 0 0 0 0 0 0 27.21 27.16 27.21

2286 -0.87 -243.3 3018 2196 3786 3885 368.7 -12.1 161 2290 0.00 2.12 0.00 0.000 260 0.000 0.044 3009 3599 3835 3785 3885 0 0 0 0 0 0 27.35 27.08 27.42

2500 -0.87 -243.3 3009 3600 3785 3884 392.6 -10.9 168 2505 0.00 2.03 0.00 0.000 1030 0.000 0.026 3018 2192 3833 3785 3882 0 0 0 0 0 0 27.20 27.17 27.22

2826 -0.87 -243.3 3018 2192 3786 3879 427.4 -10.1 179 2830 0.00 2.15 0.00 0.000 260 0.000 0.046 3009 3602 3831 3784 3879 0 0 0 0 0 0 27.37 27.08 27.43

2981 -0.87 -243.3 3009 3603 3785 3877 442.8 -10.2 184 2985 0.00 2.03 0.00 0.000 1030 0.000 0.027 3014 2201 3829 3784 3875 0 0 0 0 0 0 27.21 27.18 27.23

3306 -0.87 -243.3 3015 2196 3784 3873 481.7 -11.6 195 3310 0.00 2.15 0.00 0.000 260 0.000 0.046 3005 3602 3827 3782 3873 0 0 0 0 0 0 27.38 27.09 27.45

3525 -0.87 -243.3 3006 3602 3782 3870 504.3 -10.6 202 3530 0.00 2.03 0.00 0.000 1030 0.000 0.028 3006 2209 3825 3781 3870 0 0 0 0 0 0 27.20 27.19 27.22

3845 -0.87 -243.3 3006 2205 3777 3870 544.3 -11.2 213 3850 0.00 2.15 0.00 0.000 260 0.000 0.047 2996 3605 3823 3777 3869 0 0 0 0 0 0 27.39 27.08 27.46

3980 -0.87 -243.3 2997 3605 3777 3867 559.0 -12.2 217 3985 0.00 2.05 0.00 0.000 1030 0.000 0.029 3005 2205 3822 3777 3867 0 0 0 0 0 0 27.20 27.18 27.22

4295 -0.87 -243.3 3004 2200 3775 3865 601.5 -13.8 228 4300 0.00 2.15 0.00 0.000 260 0.000 0.048 2995 3601 3819 3774 3865 0 0 0 0 0 0 27.39 27.08 27.46

4470 -0.87 -243.3 2995 3600 3774 3863 622.0 -13.6 233 4478 0.00 2.05 0.00 0.000 1030 0.000 0.028 3002 2195 3818 3773 3863 0 0 0 0 0 0 27.21 27.17 27.22

4745 end dive: TARGET_DEPTH_EXCEEDED

state 4745 begin apogee

4747 -0.20 0.0 3004 2250 3771 3862 662.2 -14.0 243 4943 0.80 0.00 193.15 1.191 10246 0.154 0.000 3241 2249 2836 2814 2859 0 0 0 0 0 0 26.83 25.20 24.50

4944 end apogee: CONTROL_FINISHED_OK

state 4944 begin climb

4945 0.87 243.3 3242 2249 2809 2853 678.8 0.0 249 5149 1.10 2.33 195.00 1.134 11012 0.115 0.046 3583 3662 1836 1838 1834 0 0 0 0 0 0 25.27 24.94 24.44

5375 0.87 243.3 3583 3663 1827 1821 658.7 11.7 264 5380 0.00 2.12 0.00 0.000 1030 0.000 0.029 3594 2256 1822 1826 1819 0 0 0 0 0 0 26.40 26.38 26.43

5705 0.87 243.3 3593 2252 1824 1815 615.9 13.4 275 5710 0.00 2.20 0.00 0.000 260 0.000 0.049 3593 3652 1819 1823 1816 0 0 0 0 0 0 26.90 26.64 26.97

5910 0.87 243.3 3594 3654 1823 1817 589.3 14.8 281 5918 0.00 2.10 0.00 0.000 1030 0.000 0.031 3604 2242 1818 1820 1816 0 0 0 0 0 0 26.84 26.82 26.86

6215 0.87 243.3 3604 2243 1820 1815 542.7 13.3 292 6216 0.00 0.00 0.00 0.000 6 0.000 0.000 3604 2242 1816 1819 1814 0 0 0 0 0 0 27.10 27.18 27.17

6516 0.87 243.3 3604 2243 1819 1814 507.0 11.9 302 6520 0.00 2.20 0.00 0.000 260 0.000 0.050 3604 3653 1816 1818 1814 0 0 0 0 0 0 27.17 26.89 27.24

6580 0.87 243.3 3605 3653 1819 1815 499.5 12.4 304 6585 0.00 2.08 0.00 0.000 1030 0.000 0.031 3614 2251 1815 1818 1813 0 0 0 0 0 0 27.00 26.98 27.03

6906 0.91 270.7 3614 2248 1818 1811 464.7 10.2 315 6939 0.00 2.28 24.00 0.975 8452 0.000 0.050 3614 3662 1724 1726 1722 0 0 0 0 1 0 27.22 26.39 25.28

6997 0.91 270.7 3614 3662 1726 1721 453.7 11.5 318 7002 0.00 2.10 0.00 0.000 1030 0.000 0.030 3624 2261 1722 1723 1721 0 0 0 0 0 0 26.65 26.62 26.67

7327 0.91 270.7 3624 2259 1722 1718 413.3 12.3 329 7332 0.00 2.20 0.00 0.000 260 0.000 0.050 3618 3661 1719 1721 1717 0 0 0 0 0 0 27.03 26.76 27.10

7382 0.91 270.7 3618 3661 1722 1718 409.1 12.8 330 7390 0.00 2.10 0.00 0.000 1030 0.000 0.030 3627 2250 1719 1721 1717 0 0 0 0 0 0 26.87 26.84 26.90

7687 0.93 289.6 3628 2250 1721 1717 368.7 10.4 341 7708 0.00 2.17 17.00 0.847 8452 0.000 0.048 3618 3655 1653 1654 1652 0 0 0 0 0 0 27.14 26.29 25.83

7752 0.94 297.3 3618 3655 1648 1644 362.5 10.8 343 7757 0.00 2.12 1.62 0.166 9222 0.000 0.031 3628 2248 1627 1627 1627 0 0 0 0 0 0 26.70 26.67 26.46

8072 0.94 297.3 3628 2245 1645 1634 323.9 12.1 354 8078 0.00 2.17 1.15 0.212 8452 0.000 0.050 3618 3662 1624 1629 1620 0 0 0 0 0 0 27.04 26.76 26.60

8142 0.94 297.3 3618 3663 1640 1632 316.7 12.0 356 8147 0.00 2.10 0.98 0.187 9222 0.000 0.030 3627 2247 1623 1626 1620 0 0 0 0 0 0 26.89 26.85 26.63

8462 0.94 297.3 3627 2242 1645 1629 279.5 11.1 367 8467 0.00 2.17 0.98 0.225 8452 0.000 0.050 3619 3662 1623 1628 1619 0 0 0 0 0 0 27.15 26.86 26.70

8682 0.94 297.3 3618 3661 1641 1630 255.1 11.4 374 8688 0.00 2.08 0.88 0.190 9222 0.000 0.030 3628 2250 1623 1627 1620 0 0 0 0 0 0 27.00 26.98 26.74

9002 0.94 297.3 3628 2248 1643 1629 214.2 13.1 385 9003 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2246 1635 1643 1627 0 0 0 0 0 0 27.22 27.30 27.29

9302 0.94 297.3 3628 2246 1644 1627 182.4 11.7 405 9307 0.00 2.17 0.00 0.000 260 0.000 0.049 3619 3653 1635 1642 1628 0 0 0 0 0 0 27.26 26.96 27.32

9532 1.07 399.3 3619 3653 1644 1628 160.1 7.9 428 9627 0.00 2.08 88.75 0.724 9222 0.000 0.031 3628 2243 1204 1222 1186 0 0 0 0 0 0 27.09 27.06 25.25

9932 1.22 522.9 3628 2243 1209 1162 124.3 7.2 468 10036 0.22 2.33 97.57 0.679 10500 0.132 0.047 3704 3652 698 742 654 0 0 0 0 0 0 26.45 25.56 25.05

10189 1.22 522.9 3704 3653 728 642 88.2 17.8 493 10197 0.00 2.10 0.00 0.000 1030 0.000 0.028 3715 2265 684 727 641 0 0 0 0 0 0 26.36 26.33 26.38

10494 1.22 522.9 3715 2261 729 640 38.0 15.3 531 10502 0.00 2.17 0.00 0.000 260 0.000 0.047 3714 3651 683 727 640 0 0 0 0 0 0 26.86 26.59 26.93

10545 1.22 522.9 3715 3652 727 641 30.1 17.2 541 10552 0.00 2.08 0.00 0.000 1030 0.000 0.027 3725 2243 683 727 640 0 0 0 0 0 0 26.72 26.70 26.74

10720 end climb: SURFACE_DEPTH_REACHED

state 10720 begin surface coast

10730 end surface coast: CONTROL_FINISHED_OK

state 10730 begin surface

ID	204	HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	15	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	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	53	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2
D_TGT	660	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	8	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	1	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	0.0012300001	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	200	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_MISSION	240	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	3310	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	25	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	2200	ALTIM_TOP_TURN_MARGIN	0

GPS1	020315,084030,1310.9967,14433.7070,40,0.9,40,1.1,0.5,285.8,8,17.6	SPEED_LIMITS	0.191,0.336
_CALLS	1	TGT_NAME	N1
_XMS_NAKs	0	TGT_LATLONG	1312.720,14446.380
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	88.3,23150,-14.4,-11.000,-18.13,3362
_SM_ANGLEo	-64.6	D_GRID	1388
GPS2	020315,084411,1311.0177,14433.6592,5,0.9,5,1.1,2.9,16.7,7,14.9

FINISH	0.3,1.006737	FG_AHR_24Vo	0.000
SM_CCo	10804,0.00,0.000,0,0,682,529.11	FG_AHR_10Vo	0.000
SM_GC	1.24,10.15,0.00,0.00,0.084,0.000,0.000,200,2240,682,-9.65,1.13,529.11,0,0,0,0,0,0,26.74,27.06,26.79	MEM	229104
IRIDIUM_FIX	1305.38,14432.89,020315,053859	DATA_FILE_SIZE	26735,578
TT8_MAMPS	0.053928,0.053928	CAP_FILE_SIZE	105269,0
HUMID	44.17	CFSIZE	1024393216,1016938496
INTERNAL_PRESSURE	9.23314	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	24.10	INTR	1,10732.52,0x236db2,7,5
XPDR_PINGS	0	CURRENT	0.078,172.39,1
_24V_AH	24.44,2.012	GPS	020315,114500,1310.150,14434.846,18,1.0,18,1.1,0.9,258.3,7,37.5
_10V_AH	10.34,2.856

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	237	138.09	SBE_CT	384	23	218.41
Roll_motor	89	124	272.45	nil	0	0	0.00
VBD_pump_during_apogee	621	1191	18079.87	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	PAAM	0	0	0.00
Iridium_during_xfer	173	78	334.60	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	26	1.77
TT8	0	0	0.00
LPSleep	8142	2	184.39
TT8_Active	698	18	135.09
TT8_Sampling	2132	44	990.70
TT8_CF8	46	61	29.40
TT8_Kalman	0	0	0.00
Analog_circuits	1751	15	271.62
GPS_charging	0	0	0.00
Compass	1598	8	136.17
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.87	-243.3	197	2242	635	564	0.0	0.0	0	78	0.00	0.00	-64.47	0.000	16386	0.000	0.000	196	2242	2360	2314	2406	0	0	0	0	0	0	26.91	28.83	26.98
80	-0.87	-243.3	197	2242	2316	2406	3.3	-6.1	11	126	11.55	2.12	-29.00	0.000	18948	0.237	0.047	3032	808	3830	3778	3883	0	0	0	0	0	0	26.36	26.16	26.64
140	-0.87	-243.3	3032	808	3781	3884	18.3	-25.2	22	147	0.00	2.12	0.00	0.000	1030	0.000	0.032	3022	2207	3832	3780	3884	0	0	0	0	0	0	26.76	26.72	26.78
445	-0.87	-243.3	3022	2208	3781	3885	99.7	-27.3	65	450	0.00	2.12	0.00	0.000	260	0.000	0.044	3012	3604	3832	3780	3885	0	0	0	0	0	0	27.12	26.84	27.17
625	-0.87	-243.3	3012	3604	3781	3885	145.6	-20.5	83	630	0.00	2.05	0.00	0.000	1030	0.000	0.025	3019	2200	3832	3780	3885	0	0	0	0	0	0	27.00	26.96	27.02
935	-0.87	-243.3	3019	2195	3785	3889	197.8	-14.4	114	940	0.00	2.15	0.00	0.000	260	0.000	0.046	3010	3604	3835	3782	3888	0	0	0	0	0	0	27.24	26.96	27.30
1080	-0.87	-243.3	3010	3605	3785	3890	215.6	-14.9	120	1088	0.00	2.05	0.00	0.000	1030	0.000	0.025	3019	2187	3836	3783	3889	0	0	0	0	0	0	27.09	27.07	27.10
1386	-0.87	-243.3	3018	2185	3786	3891	257.8	-11.2	131	1390	0.00	2.15	0.00	0.000	260	0.000	0.047	3009	3600	3837	3784	3890	0	0	0	0	0	0	27.30	27.03	27.36
1465	-0.87	-243.3	3009	3600	3785	3891	265.5	-12.1	133	1470	0.00	2.03	0.00	0.000	1030	0.000	0.024	3018	2187	3837	3785	3889	0	0	0	0	0	0	27.14	27.13	27.16
1776	-0.87	-243.3	3019	2183	3786	3889	308.2	-13.7	144	1780	0.00	2.15	0.00	0.000	260	0.000	0.045	3009	3600	3837	3785	3889	0	0	0	0	0	0	27.33	27.05	27.39
1970	-0.87	-243.3	3010	3600	3786	3891	330.1	-11.8	150	1975	0.00	2.03	0.00	0.000	1030	0.000	0.025	3018	2200	3837	3785	3889	0	0	0	0	0	0	27.21	27.16	27.21
2286	-0.87	-243.3	3018	2196	3786	3885	368.7	-12.1	161	2290	0.00	2.12	0.00	0.000	260	0.000	0.044	3009	3599	3835	3785	3885	0	0	0	0	0	0	27.35	27.08	27.42
2500	-0.87	-243.3	3009	3600	3785	3884	392.6	-10.9	168	2505	0.00	2.03	0.00	0.000	1030	0.000	0.026	3018	2192	3833	3785	3882	0	0	0	0	0	0	27.20	27.17	27.22
2826	-0.87	-243.3	3018	2192	3786	3879	427.4	-10.1	179	2830	0.00	2.15	0.00	0.000	260	0.000	0.046	3009	3602	3831	3784	3879	0	0	0	0	0	0	27.37	27.08	27.43
2981	-0.87	-243.3	3009	3603	3785	3877	442.8	-10.2	184	2985	0.00	2.03	0.00	0.000	1030	0.000	0.027	3014	2201	3829	3784	3875	0	0	0	0	0	0	27.21	27.18	27.23
3306	-0.87	-243.3	3015	2196	3784	3873	481.7	-11.6	195	3310	0.00	2.15	0.00	0.000	260	0.000	0.046	3005	3602	3827	3782	3873	0	0	0	0	0	0	27.38	27.09	27.45
3525	-0.87	-243.3	3006	3602	3782	3870	504.3	-10.6	202	3530	0.00	2.03	0.00	0.000	1030	0.000	0.028	3006	2209	3825	3781	3870	0	0	0	0	0	0	27.20	27.19	27.22
3845	-0.87	-243.3	3006	2205	3777	3870	544.3	-11.2	213	3850	0.00	2.15	0.00	0.000	260	0.000	0.047	2996	3605	3823	3777	3869	0	0	0	0	0	0	27.39	27.08	27.46
3980	-0.87	-243.3	2997	3605	3777	3867	559.0	-12.2	217	3985	0.00	2.05	0.00	0.000	1030	0.000	0.029	3005	2205	3822	3777	3867	0	0	0	0	0	0	27.20	27.18	27.22
4295	-0.87	-243.3	3004	2200	3775	3865	601.5	-13.8	228	4300	0.00	2.15	0.00	0.000	260	0.000	0.048	2995	3601	3819	3774	3865	0	0	0	0	0	0	27.39	27.08	27.46
4470	-0.87	-243.3	2995	3600	3774	3863	622.0	-13.6	233	4478	0.00	2.05	0.00	0.000	1030	0.000	0.028	3002	2195	3818	3773	3863	0	0	0	0	0	0	27.21	27.17	27.22
4745	end dive: TARGET_DEPTH_EXCEEDED
state	4745	begin apogee
4747	-0.20	0.0	3004	2250	3771	3862	662.2	-14.0	243	4943	0.80	0.00	193.15	1.191	10246	0.154	0.000	3241	2249	2836	2814	2859	0	0	0	0	0	0	26.83	25.20	24.50
4944	end apogee: CONTROL_FINISHED_OK
state	4944	begin climb
4945	0.87	243.3	3242	2249	2809	2853	678.8	0.0	249	5149	1.10	2.33	195.00	1.134	11012	0.115	0.046	3583	3662	1836	1838	1834	0	0	0	0	0	0	25.27	24.94	24.44
5375	0.87	243.3	3583	3663	1827	1821	658.7	11.7	264	5380	0.00	2.12	0.00	0.000	1030	0.000	0.029	3594	2256	1822	1826	1819	0	0	0	0	0	0	26.40	26.38	26.43
5705	0.87	243.3	3593	2252	1824	1815	615.9	13.4	275	5710	0.00	2.20	0.00	0.000	260	0.000	0.049	3593	3652	1819	1823	1816	0	0	0	0	0	0	26.90	26.64	26.97
5910	0.87	243.3	3594	3654	1823	1817	589.3	14.8	281	5918	0.00	2.10	0.00	0.000	1030	0.000	0.031	3604	2242	1818	1820	1816	0	0	0	0	0	0	26.84	26.82	26.86
6215	0.87	243.3	3604	2243	1820	1815	542.7	13.3	292	6216	0.00	0.00	0.00	0.000	6	0.000	0.000	3604	2242	1816	1819	1814	0	0	0	0	0	0	27.10	27.18	27.17
6516	0.87	243.3	3604	2243	1819	1814	507.0	11.9	302	6520	0.00	2.20	0.00	0.000	260	0.000	0.050	3604	3653	1816	1818	1814	0	0	0	0	0	0	27.17	26.89	27.24
6580	0.87	243.3	3605	3653	1819	1815	499.5	12.4	304	6585	0.00	2.08	0.00	0.000	1030	0.000	0.031	3614	2251	1815	1818	1813	0	0	0	0	0	0	27.00	26.98	27.03
6906	0.91	270.7	3614	2248	1818	1811	464.7	10.2	315	6939	0.00	2.28	24.00	0.975	8452	0.000	0.050	3614	3662	1724	1726	1722	0	0	0	0	1	0	27.22	26.39	25.28
6997	0.91	270.7	3614	3662	1726	1721	453.7	11.5	318	7002	0.00	2.10	0.00	0.000	1030	0.000	0.030	3624	2261	1722	1723	1721	0	0	0	0	0	0	26.65	26.62	26.67
7327	0.91	270.7	3624	2259	1722	1718	413.3	12.3	329	7332	0.00	2.20	0.00	0.000	260	0.000	0.050	3618	3661	1719	1721	1717	0	0	0	0	0	0	27.03	26.76	27.10
7382	0.91	270.7	3618	3661	1722	1718	409.1	12.8	330	7390	0.00	2.10	0.00	0.000	1030	0.000	0.030	3627	2250	1719	1721	1717	0	0	0	0	0	0	26.87	26.84	26.90
7687	0.93	289.6	3628	2250	1721	1717	368.7	10.4	341	7708	0.00	2.17	17.00	0.847	8452	0.000	0.048	3618	3655	1653	1654	1652	0	0	0	0	0	0	27.14	26.29	25.83
7752	0.94	297.3	3618	3655	1648	1644	362.5	10.8	343	7757	0.00	2.12	1.62	0.166	9222	0.000	0.031	3628	2248	1627	1627	1627	0	0	0	0	0	0	26.70	26.67	26.46
8072	0.94	297.3	3628	2245	1645	1634	323.9	12.1	354	8078	0.00	2.17	1.15	0.212	8452	0.000	0.050	3618	3662	1624	1629	1620	0	0	0	0	0	0	27.04	26.76	26.60
8142	0.94	297.3	3618	3663	1640	1632	316.7	12.0	356	8147	0.00	2.10	0.98	0.187	9222	0.000	0.030	3627	2247	1623	1626	1620	0	0	0	0	0	0	26.89	26.85	26.63
8462	0.94	297.3	3627	2242	1645	1629	279.5	11.1	367	8467	0.00	2.17	0.98	0.225	8452	0.000	0.050	3619	3662	1623	1628	1619	0	0	0	0	0	0	27.15	26.86	26.70
8682	0.94	297.3	3618	3661	1641	1630	255.1	11.4	374	8688	0.00	2.08	0.88	0.190	9222	0.000	0.030	3628	2250	1623	1627	1620	0	0	0	0	0	0	27.00	26.98	26.74
9002	0.94	297.3	3628	2248	1643	1629	214.2	13.1	385	9003	0.00	0.00	0.00	0.000	6	0.000	0.000	3628	2246	1635	1643	1627	0	0	0	0	0	0	27.22	27.30	27.29
9302	0.94	297.3	3628	2246	1644	1627	182.4	11.7	405	9307	0.00	2.17	0.00	0.000	260	0.000	0.049	3619	3653	1635	1642	1628	0	0	0	0	0	0	27.26	26.96	27.32
9532	1.07	399.3	3619	3653	1644	1628	160.1	7.9	428	9627	0.00	2.08	88.75	0.724	9222	0.000	0.031	3628	2243	1204	1222	1186	0	0	0	0	0	0	27.09	27.06	25.25
9932	1.22	522.9	3628	2243	1209	1162	124.3	7.2	468	10036	0.22	2.33	97.57	0.679	10500	0.132	0.047	3704	3652	698	742	654	0	0	0	0	0	0	26.45	25.56	25.05
10189	1.22	522.9	3704	3653	728	642	88.2	17.8	493	10197	0.00	2.10	0.00	0.000	1030	0.000	0.028	3715	2265	684	727	641	0	0	0	0	0	0	26.36	26.33	26.38
10494	1.22	522.9	3715	2261	729	640	38.0	15.3	531	10502	0.00	2.17	0.00	0.000	260	0.000	0.047	3714	3651	683	727	640	0	0	0	0	0	0	26.86	26.59	26.93
10545	1.22	522.9	3715	3652	727	641	30.1	17.2	541	10552	0.00	2.08	0.00	0.000	1030	0.000	0.027	3725	2243	683	727	640	0	0	0	0	0	0	26.72	26.70	26.74
10720	end climb: SURFACE_DEPTH_REACHED
state	10720	begin surface coast
10730	end surface coast: CONTROL_FINISHED_OK
state	10730	begin surface