Glider dive log

MIRC Mar14 * SG178 * Dive index * Mission links * Dive 8 * 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 8 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 45 ALTIM_PULSE 1

D_FLARE 3 TGT_DEFAULT_LON -122.4 R_STBD_OVSHOOT 39 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 8 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 45 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 39 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 020315,143236,1309.0396,14434.3223,59,0.9,59,1.5,0.5,271.1,10,6.7 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 0.63 MHEAD_RNG_PITCHd_Wd 116.2,22850,-13.2,-10.000,-17.34,3646

_SM_ANGLEo -73.3 D_GRID 1229

GPS2 020315,143712,1309.0472,14434.2812,15,0.9,32,1.5,0.5,282.7,10,6.7

Post-dive calculations and measurements:

FINISH -0.2,1.022106 FG_AHR_24Vo 0.000

SM_CCo 10135,86.78,0.063,0,0,901,500.17 FG_AHR_10Vo 0.000

SM_GC 0.57,7.60,0.10,86.78,0.034,0.090,0.063,160,2169,901,-8.41,-0.90,500.17,0,0,0,0,0,0,27.08,27.21,26.98 MEM 229968

IRIDIUM_FIX 1303.16,14431.09,020315,112746 DATA_FILE_SIZE 23419,570

TT8_MAMPS 0.049434,0.049434 CAP_FILE_SIZE 102855,0

HUMID 46.53 CFSIZE 260034560,256552960

INTERNAL_PRESSURE 9.44372 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.80 INTR 0,11194.36,0x236db2,7,5

XPDR_PINGS 0 CURRENT 0.448,325.59,1

_24V_AH 24.54,1.421 GPS 020315,172852,1308.060,14434.239,12,1.3,45,1.5,0.2,9.4,10,7.9

_10V_AH 10.58,1.797

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 252 122.97 SBE_CT 383 24 232.47

Roll_motor 96 90 212.72 nil 0 0 0.00

VBD_pump_during_apogee 432 1061 11274.24 nil 0 0 0.00

VBD_pump_during_surface 86 62 133.58 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 189 81 381.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 30 11.41

TT8 0 0 0.00

LPSleep 7694 2 178.28

TT8_Active 636 16 108.74

TT8_Sampling 2044 46 997.74

TT8_CF8 117 54 67.62

TT8_Kalman 0 0 0.00

Analog_circuits 1624 15 262.98

GPS_charging 0 0 0.00

Compass 1476 0 11.72

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 2153 910 887 0.0 0.0 0 111 0.00 0.00 -95.80 0.000 16386 0.000 0.000 127 2151 3282 3324 3240 0 0 0 0 0 0 27.11 28.83 27.18

114 -0.78 -243.3 128 2151 3325 3241 4.0 -12.4 17 143 10.50 2.15 -10.70 0.000 18948 0.252 0.049 2615 745 3937 4004 3870 0 0 0 0 0 0 26.57 25.75 26.84

182 -0.78 -243.3 2616 745 4004 3873 31.2 -21.8 30 189 0.00 2.17 0.00 0.000 1030 0.000 0.040 2607 2132 3938 4005 3872 0 0 0 0 0 0 26.94 26.89 26.97

493 -0.78 -243.3 2608 2133 4006 3873 103.3 -23.9 70 497 0.00 2.22 0.00 0.000 260 0.000 0.051 2596 3553 3940 4007 3873 0 0 0 0 0 0 27.29 27.00 27.35

723 -0.78 -243.3 2594 3553 4009 3874 149.5 -16.1 93 728 0.00 2.10 0.00 0.000 1030 0.000 0.028 2596 2136 3940 4007 3873 0 0 0 0 0 0 27.17 27.16 27.20

1033 -0.78 -243.3 2595 2134 4012 3876 193.2 -11.4 124 1038 0.00 2.25 0.00 0.000 260 0.000 0.049 2586 3564 3942 4010 3875 0 0 0 0 0 0 27.41 27.14 27.48

1218 -0.78 -243.3 2586 3565 4010 3879 210.6 -9.1 135 1222 0.08 2.10 0.00 0.000 3078 0.119 0.028 2614 2147 3944 4010 3878 0 0 0 0 0 0 27.08 27.24 27.16

1543 -0.78 -243.3 2615 2144 4010 3881 240.2 -10.1 146 1548 0.00 2.22 0.00 0.000 260 0.000 0.049 2606 3564 3945 4010 3881 0 0 0 0 0 0 27.48 27.20 27.54

1684 -0.78 -243.3 2606 3564 4010 3882 251.5 -9.4 150 1688 0.00 2.08 0.00 0.000 1030 0.000 0.029 2606 2147 3945 4010 3880 0 0 0 0 0 0 27.34 27.29 27.35

1993 -0.78 -243.3 2605 2146 4012 3881 272.7 -5.7 161 1997 0.00 2.22 0.00 0.000 260 0.000 0.050 2597 3568 3945 4010 3881 0 0 0 0 0 0 27.51 27.22 27.57

2163 -0.78 -243.3 2596 3568 4012 3881 283.1 -6.9 166 2167 0.00 2.10 0.00 0.000 1030 0.000 0.030 2597 2153 3945 4010 3881 0 0 0 0 0 0 27.34 27.33 27.37

2473 -0.78 -243.3 2598 2153 4007 3881 307.7 -7.7 177 2477 0.00 2.22 0.00 0.000 260 0.000 0.052 2591 3594 3944 4008 3880 0 0 0 0 0 0 27.53 27.25 27.60

2638 -0.78 -243.3 2591 3594 4008 3881 319.7 -7.9 182 2642 0.00 2.15 0.00 0.000 1030 0.000 0.031 2591 2153 3943 4006 3881 0 0 0 0 0 0 27.36 27.34 27.39

2953 -0.78 -243.3 2592 2151 4006 3878 348.6 -8.7 193 2958 0.00 2.20 0.00 0.000 260 0.000 0.054 2584 3569 3941 4006 3877 0 0 0 0 0 0 27.55 27.26 27.61

3108 -0.78 -243.3 2585 3569 4004 3877 361.5 -8.6 198 3112 0.08 2.12 0.00 0.000 3078 0.119 0.031 2613 2147 3940 4004 3876 0 0 0 0 0 0 27.20 27.35 27.27

3433 -0.78 -243.3 2613 2145 4005 3874 386.2 -7.1 209 3437 0.00 2.22 0.00 0.000 260 0.000 0.054 2611 3566 3938 4003 3873 0 0 0 0 0 0 27.55 27.27 27.62

3508 -0.78 -243.3 2611 3566 4002 3873 389.2 -5.7 211 3512 0.00 2.12 0.00 0.000 1030 0.000 0.031 2610 2141 3937 4002 3873 0 0 0 0 0 0 27.38 27.36 27.40

3823 -0.78 -243.3 2610 2139 4001 3870 410.9 -8.1 222 3827 0.00 2.20 0.00 0.000 260 0.000 0.054 2610 3563 3934 4000 3869 0 0 0 0 0 0 27.55 27.28 27.62

3908 -0.78 -243.3 2611 3564 3998 3870 416.5 -8.9 224 3915 0.00 2.12 0.00 0.000 1030 0.000 0.031 2611 2139 3934 3999 3869 0 0 0 0 0 0 27.39 27.37 27.42

4214 -0.78 -243.3 2610 2139 3999 3867 452.3 -11.5 235 4217 0.00 2.20 0.00 0.000 260 0.000 0.053 2610 3563 3932 3997 3867 0 0 0 0 0 0 27.56 27.29 27.63

4368 -0.78 -243.3 2611 3563 3996 3867 469.9 -11.6 240 4372 0.00 2.10 0.00 0.000 1030 0.000 0.031 2610 2157 3931 3996 3866 0 0 0 0 0 0 27.41 27.38 27.42

4693 -0.78 -243.3 2611 2156 3994 3863 504.7 -10.6 251 4697 0.00 2.22 0.00 0.000 260 0.000 0.054 2611 3560 3928 3994 3863 0 0 0 0 0 0 27.58 27.29 27.64

4863 -0.78 -243.3 2611 3561 3991 3863 519.9 -10.1 256 4867 0.00 2.10 0.00 0.000 1030 0.000 0.032 2611 2153 3926 3991 3862 0 0 0 0 0 0 27.40 27.38 27.42

5173 -0.78 -243.3 2610 2150 3991 3861 549.1 -8.5 267 5177 0.00 2.25 0.00 0.000 260 0.000 0.057 2610 3561 3925 3990 3860 0 0 0 0 0 0 27.57 27.29 27.64

5388 -0.78 -243.3 2611 3561 3987 3861 568.5 -9.6 274 5392 0.00 2.12 0.00 0.000 1030 0.000 0.032 2611 2145 3923 3987 3859 0 0 0 0 0 0 27.41 27.38 27.42

5713 -0.78 -243.3 2611 2141 3986 3857 603.4 -10.9 285 5717 0.00 2.25 0.00 0.000 260 0.000 0.055 2610 3557 3920 3985 3856 0 0 0 0 0 0 27.58 27.29 27.65

5859 -0.78 -243.3 2611 3558 3983 3856 617.6 -11.8 289 5865 0.00 2.10 0.00 0.000 1030 0.000 0.033 2611 2132 3919 3983 3856 0 0 0 0 0 0 27.43 27.38 27.44

6163 -0.78 -243.3 2610 2132 3984 3855 657.1 -11.9 300 6167 0.00 2.28 0.00 0.000 260 0.000 0.055 2611 3562 3918 3983 3854 0 0 0 0 0 0 27.58 27.29 27.65

6192 end dive: TARGET_DEPTH_EXCEEDED

state 6192 begin apogee

6198 -0.13 0.0 2610 2103 3984 3855 660.5 -11.7 301 6397 0.60 0.00 197.05 1.062 10246 0.070 0.000 2836 2101 2941 2991 2892 0 0 0 0 0 0 27.29 25.27 24.60

6398 end apogee: CONTROL_FINISHED_OK

state 6398 begin climb

6399 0.78 243.3 2837 2101 2990 2891 672.3 0.0 307 6616 0.77 2.33 204.90 1.043 11012 0.044 0.042 3142 722 1947 1999 1896 0 0 0 0 0 0 25.48 25.21 24.54

6766 0.78 243.3 3141 723 1994 1889 606.7 24.3 320 6769 0.00 2.22 0.00 0.000 1030 0.000 0.035 3142 2108 1940 1993 1888 0 0 0 0 0 0 26.36 26.33 26.39

7096 0.78 243.3 3143 2109 1989 1888 524.6 25.0 331 7097 0.00 0.00 0.00 0.000 6 0.000 0.000 3142 2109 1938 1989 1887 0 0 0 0 0 0 26.98 27.05 27.05

7396 0.78 243.3 3141 2109 1989 1887 453.0 23.0 341 7399 0.00 2.20 0.00 0.000 516 0.000 0.043 3153 721 1936 1987 1886 0 0 0 0 0 0 27.14 26.91 27.21

7450 0.78 243.3 3152 722 1986 1887 445.9 23.1 342 7458 0.00 2.15 0.00 0.000 1030 0.000 0.035 3152 2094 1936 1987 1886 0 0 0 0 0 0 26.98 26.94 27.01

7756 0.78 243.3 3153 2095 1986 1886 375.7 21.2 353 7759 0.00 2.25 0.00 0.000 260 0.000 0.054 3153 3504 1936 1987 1885 0 0 0 0 0 0 27.24 26.99 27.32

7776 0.78 243.3 3152 3505 1986 1885 375.7 21.2 353 7780 0.12 2.12 0.00 0.000 5126 0.175 0.032 3126 2119 1935 1985 1885 0 0 0 0 0 0 26.84 27.05 26.96

8086 0.78 243.3 3127 2120 1983 1884 302.1 22.6 364 8089 0.00 2.20 0.00 0.000 516 0.000 0.045 3135 696 1933 1983 1884 0 0 0 0 0 0 27.32 27.07 27.39

8110 0.78 243.3 3136 697 1983 1883 302.1 22.6 364 8118 0.00 2.17 0.00 0.000 1030 0.000 0.036 3136 2098 1932 1983 1882 0 0 0 0 0 0 27.13 27.08 27.15

8416 0.78 243.3 3136 2099 1981 1882 230.1 20.7 375 8419 0.00 2.22 0.00 0.000 260 0.000 0.054 3136 3499 1931 1981 1882 0 0 0 0 0 0 27.36 27.08 27.43

8430 0.78 243.3 3136 3499 1980 1882 230.1 20.7 375 8435 0.00 2.15 0.00 0.000 1030 0.000 0.032 3146 2091 1931 1981 1882 0 0 0 0 0 0 27.18 27.15 27.22

8736 0.78 243.3 3145 2092 1981 1882 170.4 20.6 395 8740 0.00 2.17 0.00 0.000 516 0.000 0.044 3156 692 1930 1979 1881 0 0 0 0 0 0 27.39 27.15 27.46

8851 0.78 243.3 3156 693 1981 1881 149.7 16.8 406 8858 0.10 2.17 0.00 0.000 5126 0.164 0.036 3126 2098 1929 1979 1880 0 0 0 0 0 0 27.00 27.17 27.10

9156 0.86 283.7 3125 2099 1980 1878 115.7 8.9 437 9191 0.00 2.20 30.73 0.681 8708 0.000 0.044 3135 695 1782 1830 1735 0 0 0 0 0 0 27.43 26.63 26.05

9316 0.86 283.7 3134 696 1831 1731 99.6 10.5 453 9319 0.00 2.17 0.00 0.000 1030 0.000 0.034 3134 2095 1779 1829 1729 0 0 0 0 0 0 26.89 26.86 26.92

9626 0.86 283.7 3136 2095 1829 1729 65.8 11.4 484 9629 0.00 2.22 0.00 0.000 260 0.000 0.050 3135 3506 1778 1829 1728 0 0 0 0 0 0 27.23 26.97 27.29

9831 0.86 283.7 3134 3508 1831 1729 37.7 14.6 512 9837 0.00 2.12 0.00 0.000 1030 0.000 0.029 3146 2092 1779 1829 1729 0 0 0 0 0 0 27.12 27.10 27.15

10100 end climb: SURFACE_DEPTH_REACHED

state 10100 begin surface coast

10120 end surface coast: CONTROL_FINISHED_OK

state 10121 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	8	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	45	ALTIM_PULSE	1
D_FLARE	3	TGT_DEFAULT_LON	-122.4	R_STBD_OVSHOOT	39	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	020315,143236,1309.0396,14434.3223,59,0.9,59,1.5,0.5,271.1,10,6.7	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	0.63	MHEAD_RNG_PITCHd_Wd	116.2,22850,-13.2,-10.000,-17.34,3646
_SM_ANGLEo	-73.3	D_GRID	1229
GPS2	020315,143712,1309.0472,14434.2812,15,0.9,32,1.5,0.5,282.7,10,6.7

FINISH	-0.2,1.022106	FG_AHR_24Vo	0.000
SM_CCo	10135,86.78,0.063,0,0,901,500.17	FG_AHR_10Vo	0.000
SM_GC	0.57,7.60,0.10,86.78,0.034,0.090,0.063,160,2169,901,-8.41,-0.90,500.17,0,0,0,0,0,0,27.08,27.21,26.98	MEM	229968
IRIDIUM_FIX	1303.16,14431.09,020315,112746	DATA_FILE_SIZE	23419,570
TT8_MAMPS	0.049434,0.049434	CAP_FILE_SIZE	102855,0
HUMID	46.53	CFSIZE	260034560,256552960
INTERNAL_PRESSURE	9.44372	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.80	INTR	0,11194.36,0x236db2,7,5
XPDR_PINGS	0	CURRENT	0.448,325.59,1
_24V_AH	24.54,1.421	GPS	020315,172852,1308.060,14434.239,12,1.3,45,1.5,0.2,9.4,10,7.9
_10V_AH	10.58,1.797

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	252	122.97	SBE_CT	383	24	232.47
Roll_motor	96	90	212.72	nil	0	0	0.00
VBD_pump_during_apogee	432	1061	11274.24	nil	0	0	0.00
VBD_pump_during_surface	86	62	133.58	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	189	81	381.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	30	11.41
TT8	0	0	0.00
LPSleep	7694	2	178.28
TT8_Active	636	16	108.74
TT8_Sampling	2044	46	997.74
TT8_CF8	117	54	67.62
TT8_Kalman	0	0	0.00
Analog_circuits	1624	15	262.98
GPS_charging	0	0	0.00
Compass	1476	0	11.72
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	2153	910	887	0.0	0.0	0	111	0.00	0.00	-95.80	0.000	16386	0.000	0.000	127	2151	3282	3324	3240	0	0	0	0	0	0	27.11	28.83	27.18
114	-0.78	-243.3	128	2151	3325	3241	4.0	-12.4	17	143	10.50	2.15	-10.70	0.000	18948	0.252	0.049	2615	745	3937	4004	3870	0	0	0	0	0	0	26.57	25.75	26.84
182	-0.78	-243.3	2616	745	4004	3873	31.2	-21.8	30	189	0.00	2.17	0.00	0.000	1030	0.000	0.040	2607	2132	3938	4005	3872	0	0	0	0	0	0	26.94	26.89	26.97
493	-0.78	-243.3	2608	2133	4006	3873	103.3	-23.9	70	497	0.00	2.22	0.00	0.000	260	0.000	0.051	2596	3553	3940	4007	3873	0	0	0	0	0	0	27.29	27.00	27.35
723	-0.78	-243.3	2594	3553	4009	3874	149.5	-16.1	93	728	0.00	2.10	0.00	0.000	1030	0.000	0.028	2596	2136	3940	4007	3873	0	0	0	0	0	0	27.17	27.16	27.20
1033	-0.78	-243.3	2595	2134	4012	3876	193.2	-11.4	124	1038	0.00	2.25	0.00	0.000	260	0.000	0.049	2586	3564	3942	4010	3875	0	0	0	0	0	0	27.41	27.14	27.48
1218	-0.78	-243.3	2586	3565	4010	3879	210.6	-9.1	135	1222	0.08	2.10	0.00	0.000	3078	0.119	0.028	2614	2147	3944	4010	3878	0	0	0	0	0	0	27.08	27.24	27.16
1543	-0.78	-243.3	2615	2144	4010	3881	240.2	-10.1	146	1548	0.00	2.22	0.00	0.000	260	0.000	0.049	2606	3564	3945	4010	3881	0	0	0	0	0	0	27.48	27.20	27.54
1684	-0.78	-243.3	2606	3564	4010	3882	251.5	-9.4	150	1688	0.00	2.08	0.00	0.000	1030	0.000	0.029	2606	2147	3945	4010	3880	0	0	0	0	0	0	27.34	27.29	27.35
1993	-0.78	-243.3	2605	2146	4012	3881	272.7	-5.7	161	1997	0.00	2.22	0.00	0.000	260	0.000	0.050	2597	3568	3945	4010	3881	0	0	0	0	0	0	27.51	27.22	27.57
2163	-0.78	-243.3	2596	3568	4012	3881	283.1	-6.9	166	2167	0.00	2.10	0.00	0.000	1030	0.000	0.030	2597	2153	3945	4010	3881	0	0	0	0	0	0	27.34	27.33	27.37
2473	-0.78	-243.3	2598	2153	4007	3881	307.7	-7.7	177	2477	0.00	2.22	0.00	0.000	260	0.000	0.052	2591	3594	3944	4008	3880	0	0	0	0	0	0	27.53	27.25	27.60
2638	-0.78	-243.3	2591	3594	4008	3881	319.7	-7.9	182	2642	0.00	2.15	0.00	0.000	1030	0.000	0.031	2591	2153	3943	4006	3881	0	0	0	0	0	0	27.36	27.34	27.39
2953	-0.78	-243.3	2592	2151	4006	3878	348.6	-8.7	193	2958	0.00	2.20	0.00	0.000	260	0.000	0.054	2584	3569	3941	4006	3877	0	0	0	0	0	0	27.55	27.26	27.61
3108	-0.78	-243.3	2585	3569	4004	3877	361.5	-8.6	198	3112	0.08	2.12	0.00	0.000	3078	0.119	0.031	2613	2147	3940	4004	3876	0	0	0	0	0	0	27.20	27.35	27.27
3433	-0.78	-243.3	2613	2145	4005	3874	386.2	-7.1	209	3437	0.00	2.22	0.00	0.000	260	0.000	0.054	2611	3566	3938	4003	3873	0	0	0	0	0	0	27.55	27.27	27.62
3508	-0.78	-243.3	2611	3566	4002	3873	389.2	-5.7	211	3512	0.00	2.12	0.00	0.000	1030	0.000	0.031	2610	2141	3937	4002	3873	0	0	0	0	0	0	27.38	27.36	27.40
3823	-0.78	-243.3	2610	2139	4001	3870	410.9	-8.1	222	3827	0.00	2.20	0.00	0.000	260	0.000	0.054	2610	3563	3934	4000	3869	0	0	0	0	0	0	27.55	27.28	27.62
3908	-0.78	-243.3	2611	3564	3998	3870	416.5	-8.9	224	3915	0.00	2.12	0.00	0.000	1030	0.000	0.031	2611	2139	3934	3999	3869	0	0	0	0	0	0	27.39	27.37	27.42
4214	-0.78	-243.3	2610	2139	3999	3867	452.3	-11.5	235	4217	0.00	2.20	0.00	0.000	260	0.000	0.053	2610	3563	3932	3997	3867	0	0	0	0	0	0	27.56	27.29	27.63
4368	-0.78	-243.3	2611	3563	3996	3867	469.9	-11.6	240	4372	0.00	2.10	0.00	0.000	1030	0.000	0.031	2610	2157	3931	3996	3866	0	0	0	0	0	0	27.41	27.38	27.42
4693	-0.78	-243.3	2611	2156	3994	3863	504.7	-10.6	251	4697	0.00	2.22	0.00	0.000	260	0.000	0.054	2611	3560	3928	3994	3863	0	0	0	0	0	0	27.58	27.29	27.64
4863	-0.78	-243.3	2611	3561	3991	3863	519.9	-10.1	256	4867	0.00	2.10	0.00	0.000	1030	0.000	0.032	2611	2153	3926	3991	3862	0	0	0	0	0	0	27.40	27.38	27.42
5173	-0.78	-243.3	2610	2150	3991	3861	549.1	-8.5	267	5177	0.00	2.25	0.00	0.000	260	0.000	0.057	2610	3561	3925	3990	3860	0	0	0	0	0	0	27.57	27.29	27.64
5388	-0.78	-243.3	2611	3561	3987	3861	568.5	-9.6	274	5392	0.00	2.12	0.00	0.000	1030	0.000	0.032	2611	2145	3923	3987	3859	0	0	0	0	0	0	27.41	27.38	27.42
5713	-0.78	-243.3	2611	2141	3986	3857	603.4	-10.9	285	5717	0.00	2.25	0.00	0.000	260	0.000	0.055	2610	3557	3920	3985	3856	0	0	0	0	0	0	27.58	27.29	27.65
5859	-0.78	-243.3	2611	3558	3983	3856	617.6	-11.8	289	5865	0.00	2.10	0.00	0.000	1030	0.000	0.033	2611	2132	3919	3983	3856	0	0	0	0	0	0	27.43	27.38	27.44
6163	-0.78	-243.3	2610	2132	3984	3855	657.1	-11.9	300	6167	0.00	2.28	0.00	0.000	260	0.000	0.055	2611	3562	3918	3983	3854	0	0	0	0	0	0	27.58	27.29	27.65
6192	end dive: TARGET_DEPTH_EXCEEDED
state	6192	begin apogee
6198	-0.13	0.0	2610	2103	3984	3855	660.5	-11.7	301	6397	0.60	0.00	197.05	1.062	10246	0.070	0.000	2836	2101	2941	2991	2892	0	0	0	0	0	0	27.29	25.27	24.60
6398	end apogee: CONTROL_FINISHED_OK
state	6398	begin climb
6399	0.78	243.3	2837	2101	2990	2891	672.3	0.0	307	6616	0.77	2.33	204.90	1.043	11012	0.044	0.042	3142	722	1947	1999	1896	0	0	0	0	0	0	25.48	25.21	24.54
6766	0.78	243.3	3141	723	1994	1889	606.7	24.3	320	6769	0.00	2.22	0.00	0.000	1030	0.000	0.035	3142	2108	1940	1993	1888	0	0	0	0	0	0	26.36	26.33	26.39
7096	0.78	243.3	3143	2109	1989	1888	524.6	25.0	331	7097	0.00	0.00	0.00	0.000	6	0.000	0.000	3142	2109	1938	1989	1887	0	0	0	0	0	0	26.98	27.05	27.05
7396	0.78	243.3	3141	2109	1989	1887	453.0	23.0	341	7399	0.00	2.20	0.00	0.000	516	0.000	0.043	3153	721	1936	1987	1886	0	0	0	0	0	0	27.14	26.91	27.21
7450	0.78	243.3	3152	722	1986	1887	445.9	23.1	342	7458	0.00	2.15	0.00	0.000	1030	0.000	0.035	3152	2094	1936	1987	1886	0	0	0	0	0	0	26.98	26.94	27.01
7756	0.78	243.3	3153	2095	1986	1886	375.7	21.2	353	7759	0.00	2.25	0.00	0.000	260	0.000	0.054	3153	3504	1936	1987	1885	0	0	0	0	0	0	27.24	26.99	27.32
7776	0.78	243.3	3152	3505	1986	1885	375.7	21.2	353	7780	0.12	2.12	0.00	0.000	5126	0.175	0.032	3126	2119	1935	1985	1885	0	0	0	0	0	0	26.84	27.05	26.96
8086	0.78	243.3	3127	2120	1983	1884	302.1	22.6	364	8089	0.00	2.20	0.00	0.000	516	0.000	0.045	3135	696	1933	1983	1884	0	0	0	0	0	0	27.32	27.07	27.39
8110	0.78	243.3	3136	697	1983	1883	302.1	22.6	364	8118	0.00	2.17	0.00	0.000	1030	0.000	0.036	3136	2098	1932	1983	1882	0	0	0	0	0	0	27.13	27.08	27.15
8416	0.78	243.3	3136	2099	1981	1882	230.1	20.7	375	8419	0.00	2.22	0.00	0.000	260	0.000	0.054	3136	3499	1931	1981	1882	0	0	0	0	0	0	27.36	27.08	27.43
8430	0.78	243.3	3136	3499	1980	1882	230.1	20.7	375	8435	0.00	2.15	0.00	0.000	1030	0.000	0.032	3146	2091	1931	1981	1882	0	0	0	0	0	0	27.18	27.15	27.22
8736	0.78	243.3	3145	2092	1981	1882	170.4	20.6	395	8740	0.00	2.17	0.00	0.000	516	0.000	0.044	3156	692	1930	1979	1881	0	0	0	0	0	0	27.39	27.15	27.46
8851	0.78	243.3	3156	693	1981	1881	149.7	16.8	406	8858	0.10	2.17	0.00	0.000	5126	0.164	0.036	3126	2098	1929	1979	1880	0	0	0	0	0	0	27.00	27.17	27.10
9156	0.86	283.7	3125	2099	1980	1878	115.7	8.9	437	9191	0.00	2.20	30.73	0.681	8708	0.000	0.044	3135	695	1782	1830	1735	0	0	0	0	0	0	27.43	26.63	26.05
9316	0.86	283.7	3134	696	1831	1731	99.6	10.5	453	9319	0.00	2.17	0.00	0.000	1030	0.000	0.034	3134	2095	1779	1829	1729	0	0	0	0	0	0	26.89	26.86	26.92
9626	0.86	283.7	3136	2095	1829	1729	65.8	11.4	484	9629	0.00	2.22	0.00	0.000	260	0.000	0.050	3135	3506	1778	1829	1728	0	0	0	0	0	0	27.23	26.97	27.29
9831	0.86	283.7	3134	3508	1831	1729	37.7	14.6	512	9837	0.00	2.12	0.00	0.000	1030	0.000	0.029	3146	2092	1779	1829	1729	0	0	0	0	0	0	27.12	27.10	27.15
10100	end climb: SURFACE_DEPTH_REACHED
state	10100	begin surface coast
10120	end surface coast: CONTROL_FINISHED_OK
state	10121	begin surface