Glider dive log

Shilshole 09Feb16.01 * SG219 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 HD_C 1.6100001e-05 C_ROLL_DIVE 2050 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

DIVE 7 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 110

STOP_T 12021620 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 22 ALTIM_PULSE 3

D_TGT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

D_ABORT 1090 SM_CC 310 ROLL_MAXERRORS 2 XPDR_VALID 2

D_NO_BLEED 100 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 100 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -0.25

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2704 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 75 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_MISSION 80 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 360 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 10 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 97

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 350 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 200 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3914 MINV_24V 10 SIM_W 0

RELAUNCH 1 C_PITCH 2690 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044063777

MAX_BUOY 150 PITCH_CNV 0.0031300001 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063933869

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4772711e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9384435e-06

SPEED_FACTOR 1 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_G -9.8920727

RHO 1.023 PITCH_TIMEOUT 18 PRESSURE_YINT -148.877 SEABIRD_C_H 1.0856217

MASS 53197 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.0001078618 SEABIRD_C_I -0.0019095645

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.0001978568

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 1 ROLL_MIN 251 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3825 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 2 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 350 D_TGT 180 PITCH_AD_RATE 175 SM_CC 310

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.0031300001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STOP_T 12021620

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 20 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3914 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 110 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 64 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001078618 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_C 1.6100001e-05 PRESSURE_YINT -148.877 T_ABORT 1440

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_BOOST 0

CALL_WAIT 45 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 75

CAPMAXSIZE 100000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 10

CF8_MAXERRORS 2 ID 219 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.25 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 97 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.023 T_TURN 360

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2690 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 UNCOM_BLEED 60

C_ROLL_DIVE 2050 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2704 MASS 53197 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3825 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_MIN 251 VBD_CNV -0.25119999

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 22 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 22 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 7 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_G -9.8920727 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 100 N_DIVES 25 SEABIRD_C_H 1.0856217 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0019095645 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.0001978568 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0044063777 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_H 0.00063933869 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.4772711e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.9384435e-06

Pre-dive calculations and measurements:

GPS1 090216,235331,4743.9155,-12224.7178,43,1.1,43,16.0,0.4,167.9,8,10.0 SPEED_LIMITS 0.139,0.237

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG 4744.500,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.90 MHEAD_RNG_PITCHd_Wd 352.5,1360,-14.1,-8.000,-18.62,2735

_SM_ANGLEo -69.1 D_GRID 180

GPS2 100216,000326,4743.7734,-12224.6602,2,1.0,4,16.0,0.5,173.6,10,8.9

Post-dive calculations and measurements:

FINISH 0.6,1.020246 _24V_AH 13.19,2.803

SM_CCo 3473,55.05,0.186,0,0,1468,310.23 _10V_AH 13.52,0.000

SM_GC 1.40,8.48,0.00,55.05,0.117,0.000,0.186,212,2044,1468,-7.71,-0.17,310.23,0,0,0,0,0,0,14.69,14.92,14.60 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12224.09,090216,223844 FG_AHR_10Vo 0.000

TT8_MAMPS 0.036701,0.345289 MEM 313044

HUMID 40.03 DATA_FILE_SIZE 23450,658

INTERNAL_PRESSURE 8.98864 CAP_FILE_SIZE 115965,0

TCM_TEMP 16.30 CFSIZE 1024409600,1021231104

XPDR_PINGS 21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 115.0,76.0 GPS 100216,010402,4744.046,-12224.774,9,0.8,36,16.0,0.4,152.7,11,2.3

SC_FREEKB 3907424

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 361 96.65 nil 0 0 0.00

Roll_motor 75 2242 2238.81 nil 0 0 0.00

VBD_pump_during_apogee 254 2233 7496.33 nil 0 0 0.00

VBD_pump_during_surface 55 185 134.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 41 14.44 nil 0 0 0.00

Iridium_during_connect 34 160 73.37 SciCon 3523 29 1349.30

Iridium_during_xfer 361 223 1062.94 nil 0 0 0.00

Transponder_ping 6 420 33.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.85

TT8 1431 27 541.06

LPSleep 670 2 19.86

TT8_Active 440 27 166.44

TT8_Sampling 1535 47 984.75

TT8_CF8 51 65 45.40

TT8_Kalman 0 0 0.00

Analog_circuits 1008 11 150.01

GPS_charging 0 0 0.00

Compass 990 7 100.35

RAFOS 0 0 0.00

Transponder 7 30 2.93

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8 -0.89 -146.6 210 2066 1495 1430 0.0 0.0 0 73 0.00 0.00 -61.90 0.000 16386 0.000 0.000 210 2065 2964 2987 2941 0 0 0 0 0 0 14.73 28.83 14.73

75 -0.89 -146.6 210 2065 2987 2942 3.8 -10.9 11 99 9.38 2.75 -7.30 0.000 18948 0.362 2.242 2404 637 3288 3325 3251 0 0 0 0 0 0 14.41 13.82 14.60

181 -0.89 -146.6 2404 637 3326 3251 19.5 -11.9 31 187 0.00 2.50 0.00 0.000 1030 0.000 0.085 2394 2054 3288 3326 3251 0 0 0 0 0 0 14.63 14.52 14.64

249 -0.89 -146.6 2394 2053 3325 3251 26.6 -10.9 44 256 0.00 2.58 0.00 0.000 260 0.000 0.124 2383 3460 3288 3325 3251 0 0 0 0 0 0 14.78 14.50 14.78

346 -0.89 -146.6 2384 3459 3325 3251 37.6 -11.3 63 353 0.00 2.45 0.00 0.000 1030 0.000 0.080 2384 2041 3288 3325 3251 0 0 0 0 0 0 14.69 14.60 14.71

415 -0.89 -146.6 2383 2041 3325 3252 44.8 -10.2 76 421 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2041 3288 3326 3251 0 0 0 0 0 0 14.82 14.83 14.83

542 -0.89 -146.6 2384 2040 3326 3251 58.6 -11.8 101 548 0.00 2.60 0.00 0.000 260 0.000 0.122 2373 3463 3288 3325 3251 0 0 0 0 0 0 14.85 14.61 14.86

600 -0.89 -146.6 2373 3464 3325 3251 66.5 -14.1 112 607 0.10 2.42 0.00 0.000 3078 0.277 0.080 2399 2053 3288 3326 3251 0 0 0 0 0 0 14.57 14.65 14.71

729 -0.89 -146.6 2399 2049 3325 3251 79.9 -8.1 137 736 0.00 2.53 0.00 0.000 516 0.000 0.104 2408 636 3288 3326 3251 0 0 0 0 0 0 14.88 14.62 14.88

757 -0.89 -146.6 2408 636 3325 3251 84.7 -18.3 142 764 0.00 2.50 0.00 0.000 1030 0.000 0.095 2398 2049 3287 3325 3250 0 0 0 0 0 0 14.75 14.64 14.76

885 -0.89 -146.6 2398 2057 3326 3251 97.6 -10.1 167 892 0.00 2.50 0.00 0.000 516 0.000 0.099 2398 644 3288 3325 3251 0 0 0 0 0 0 14.90 14.66 14.90

903 -0.89 -146.6 2398 644 3326 3251 98.9 -7.1 170 910 0.00 2.47 0.00 0.000 1030 0.000 0.089 2387 2059 3288 3326 3251 0 0 0 0 0 0 14.76 14.66 14.77

1031 -0.89 -146.6 2387 2059 3326 3251 109.9 -9.6 195 1039 0.00 2.53 0.00 0.000 516 0.000 0.099 2387 639 3288 3325 3251 0 0 0 0 0 0 14.92 14.67 14.92

1060 -0.89 -146.6 2387 639 3325 3251 113.0 -10.7 200 1067 0.00 2.47 0.00 0.000 1030 0.000 0.090 2376 2053 3288 3325 3251 0 0 0 0 0 0 14.79 14.67 14.81

1190 -0.89 -146.6 2377 2053 3326 3251 128.5 -12.4 225 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2053 3288 3326 3251 0 0 0 0 0 0 14.93 14.94 14.94

1318 -0.89 -146.6 2377 2053 3326 3251 143.8 -11.7 250 1324 0.00 2.55 0.00 0.000 260 0.000 0.124 2366 3468 3288 3326 3250 0 0 0 0 0 0 14.94 14.69 14.94

1356 -0.89 -146.6 2366 3468 3325 3251 148.3 -11.9 257 1363 0.12 2.42 0.00 0.000 3078 0.261 0.080 2400 2049 3288 3326 3251 0 0 0 0 0 0 14.64 14.73 14.78

1484 -0.89 -146.6 2400 2048 3326 3251 161.7 -10.7 282 1491 0.00 2.58 0.00 0.000 260 0.000 0.124 2391 3466 3288 3326 3251 0 0 0 0 0 0 14.94 14.69 14.97

1507 -0.89 -146.6 2390 3466 3326 3250 164.1 -10.6 286 1514 0.00 2.42 0.00 0.000 1030 0.000 0.082 2390 2051 3288 3326 3251 0 0 0 0 0 0 14.83 14.73 14.84

1619 end dive: BOTTOM_OBSTACLE_DETECTED

state 1620 begin apogee

1622 -0.25 0.0 2390 2050 3325 3251 176.3 -11.1 308 1738 0.70 0.00 107.05 2.234 10246 0.203 0.000 2602 2047 2705 2773 2637 0 0 0 0 0 0 14.66 13.83 13.27

1740 end apogee: CONTROL_FINISHED_OK

state 1740 begin climb

1741 0.89 146.6 2602 2047 2774 2637 181.2 0.0 329 1855 1.15 0.00 108.40 2.124 10246 0.145 0.000 2952 2047 2120 2204 2036 0 0 0 0 0 0 13.97 13.86 13.19

1977 0.95 198.2 2952 2047 2204 2039 171.0 6.1 373 2023 0.08 2.72 38.97 2.095 10500 0.183 0.123 2991 3460 1915 1997 1833 0 0 0 0 0 0 14.31 13.97 13.40

2115 0.95 198.2 2991 3461 1997 1833 156.3 13.0 399 2122 0.00 2.50 0.00 0.000 1030 0.000 0.081 3002 2054 1915 1997 1833 0 0 0 0 0 0 14.37 14.28 14.38

2243 0.95 198.2 3001 2053 1997 1832 142.5 9.6 424 2250 0.00 2.55 0.00 0.000 516 0.000 0.106 3013 641 1914 1997 1832 0 0 0 0 0 0 14.67 14.44 14.67

2305 0.95 198.2 3013 641 1997 1833 134.0 13.4 436 2312 0.00 2.53 0.00 0.000 1030 0.000 0.090 3014 2060 1915 1997 1833 0 0 0 0 0 0 14.56 14.46 14.57

2434 0.95 198.2 3013 2064 1997 1833 118.3 11.9 461 2440 0.00 2.58 0.00 0.000 260 0.000 0.127 3014 3462 1914 1997 1832 0 0 0 0 0 0 14.78 14.52 14.78

2517 0.95 198.2 3013 3462 1997 1840 108.1 12.1 477 2523 0.00 2.47 0.00 0.000 1030 0.000 0.083 3024 2042 1914 1997 1832 0 0 0 0 0 0 14.69 14.59 14.70

2645 0.95 198.2 3024 2040 1997 1832 91.9 12.6 502 2652 0.00 2.50 0.00 0.000 516 0.000 0.105 3036 640 1915 1998 1833 0 0 0 0 0 0 14.83 14.58 14.84

2718 0.95 198.2 3035 640 1997 1833 82.4 12.3 516 2726 0.12 2.50 0.00 0.000 5126 0.236 0.090 2999 2063 1914 1997 1832 0 0 0 0 0 0 14.59 14.63 14.71

2847 0.95 198.2 2999 2063 1998 1832 68.3 10.8 541 2854 0.00 2.55 0.00 0.000 516 0.000 0.104 3009 641 1914 1997 1832 0 0 0 0 0 0 14.88 14.64 14.89

2920 0.95 198.2 3009 641 1997 1832 60.1 11.2 555 2927 0.00 2.47 0.00 0.000 1030 0.000 0.088 3009 2053 1914 1997 1832 0 0 0 0 0 0 14.73 14.63 14.74

3049 0.95 198.2 3009 2054 1998 1832 45.5 11.0 580 3055 0.00 2.55 0.00 0.000 260 0.000 0.125 3009 3460 1914 1997 1832 0 0 0 0 0 0 14.88 14.64 14.90

3117 0.95 198.2 3009 3460 1997 1832 37.3 12.4 593 3124 0.00 2.45 0.00 0.000 1030 0.000 0.082 3020 2042 1915 1997 1833 0 0 0 0 0 0 14.77 14.68 14.78

3185 0.95 198.2 3020 2041 1997 1832 29.5 11.3 606 3191 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2042 1914 1997 1832 0 0 0 0 0 0 14.89 14.90 14.90

3252 0.95 198.2 3020 2041 1997 1832 22.1 11.4 619 3259 0.00 2.60 0.00 0.000 260 0.000 0.125 3020 3462 1914 1997 1832 0 0 0 0 0 0 14.90 14.65 14.88

3290 0.95 198.2 3020 3462 1997 1832 17.4 11.9 626 3298 0.12 2.45 0.00 0.000 5126 0.253 0.083 2996 2044 1914 1996 1832 0 0 0 0 0 0 14.60 14.66 14.73

3360 0.95 198.2 2995 2044 1997 1832 10.1 10.3 639 3365 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2044 1914 1997 1832 0 0 0 0 0 0 14.89 14.90 14.90

3427 0.95 198.2 2996 2044 1997 1832 2.4 10.9 652 3432 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2044 1914 1997 1832 0 0 0 0 0 0 14.91 14.92 14.91

3437 end climb: SURFACE_DEPTH_REACHED

state 3437 begin surface coast

3459 end surface coast: CONTROL_FINISHED_OK

state 3459 begin surface

ID	219	HD_C	1.6100001e-05	C_ROLL_DIVE	2050	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
DIVE	7	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	110
STOP_T	12021620	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	22	ALTIM_PULSE	3
D_TGT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
D_ABORT	1090	SM_CC	310	ROLL_MAXERRORS	2	XPDR_VALID	2
D_NO_BLEED	100	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	100	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2704	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	75	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_MISSION	80	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	360	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	10	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	97
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	350	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	200	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3914	MINV_24V	10	SIM_W	0
RELAUNCH	1	C_PITCH	2690	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044063777
MAX_BUOY	150	PITCH_CNV	0.0031300001	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063933869
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4772711e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9384435e-06
SPEED_FACTOR	1	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8920727
RHO	1.023	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.877	SEABIRD_C_H	1.0856217
MASS	53197	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.0001078618	SEABIRD_C_I	-0.0019095645
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.0001978568
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	1	ROLL_MIN	251	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3825	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	090216,235331,4743.9155,-12224.7178,43,1.1,43,16.0,0.4,167.9,8,10.0	SPEED_LIMITS	0.139,0.237
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	4744.500,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.90	MHEAD_RNG_PITCHd_Wd	352.5,1360,-14.1,-8.000,-18.62,2735
_SM_ANGLEo	-69.1	D_GRID	180
GPS2	100216,000326,4743.7734,-12224.6602,2,1.0,4,16.0,0.5,173.6,10,8.9

FINISH	0.6,1.020246	_24V_AH	13.19,2.803
SM_CCo	3473,55.05,0.186,0,0,1468,310.23	_10V_AH	13.52,0.000
SM_GC	1.40,8.48,0.00,55.05,0.117,0.000,0.186,212,2044,1468,-7.71,-0.17,310.23,0,0,0,0,0,0,14.69,14.92,14.60	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12224.09,090216,223844	FG_AHR_10Vo	0.000
TT8_MAMPS	0.036701,0.345289	MEM	313044
HUMID	40.03	DATA_FILE_SIZE	23450,658
INTERNAL_PRESSURE	8.98864	CAP_FILE_SIZE	115965,0
TCM_TEMP	16.30	CFSIZE	1024409600,1021231104
XPDR_PINGS	21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	115.0,76.0	GPS	100216,010402,4744.046,-12224.774,9,0.8,36,16.0,0.4,152.7,11,2.3
SC_FREEKB	3907424

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	361	96.65	nil	0	0	0.00
Roll_motor	75	2242	2238.81	nil	0	0	0.00
VBD_pump_during_apogee	254	2233	7496.33	nil	0	0	0.00
VBD_pump_during_surface	55	185	134.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	41	14.44	nil	0	0	0.00
Iridium_during_connect	34	160	73.37	SciCon	3523	29	1349.30
Iridium_during_xfer	361	223	1062.94	nil	0	0	0.00
Transponder_ping	6	420	33.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.85
TT8	1431	27	541.06
LPSleep	670	2	19.86
TT8_Active	440	27	166.44
TT8_Sampling	1535	47	984.75
TT8_CF8	51	65	45.40
TT8_Kalman	0	0	0.00
Analog_circuits	1008	11	150.01
GPS_charging	0	0	0.00
Compass	990	7	100.35
RAFOS	0	0	0.00
Transponder	7	30	2.93

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8	-0.89	-146.6	210	2066	1495	1430	0.0	0.0	0	73	0.00	0.00	-61.90	0.000	16386	0.000	0.000	210	2065	2964	2987	2941	0	0	0	0	0	0	14.73	28.83	14.73
75	-0.89	-146.6	210	2065	2987	2942	3.8	-10.9	11	99	9.38	2.75	-7.30	0.000	18948	0.362	2.242	2404	637	3288	3325	3251	0	0	0	0	0	0	14.41	13.82	14.60
181	-0.89	-146.6	2404	637	3326	3251	19.5	-11.9	31	187	0.00	2.50	0.00	0.000	1030	0.000	0.085	2394	2054	3288	3326	3251	0	0	0	0	0	0	14.63	14.52	14.64
249	-0.89	-146.6	2394	2053	3325	3251	26.6	-10.9	44	256	0.00	2.58	0.00	0.000	260	0.000	0.124	2383	3460	3288	3325	3251	0	0	0	0	0	0	14.78	14.50	14.78
346	-0.89	-146.6	2384	3459	3325	3251	37.6	-11.3	63	353	0.00	2.45	0.00	0.000	1030	0.000	0.080	2384	2041	3288	3325	3251	0	0	0	0	0	0	14.69	14.60	14.71
415	-0.89	-146.6	2383	2041	3325	3252	44.8	-10.2	76	421	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2041	3288	3326	3251	0	0	0	0	0	0	14.82	14.83	14.83
542	-0.89	-146.6	2384	2040	3326	3251	58.6	-11.8	101	548	0.00	2.60	0.00	0.000	260	0.000	0.122	2373	3463	3288	3325	3251	0	0	0	0	0	0	14.85	14.61	14.86
600	-0.89	-146.6	2373	3464	3325	3251	66.5	-14.1	112	607	0.10	2.42	0.00	0.000	3078	0.277	0.080	2399	2053	3288	3326	3251	0	0	0	0	0	0	14.57	14.65	14.71
729	-0.89	-146.6	2399	2049	3325	3251	79.9	-8.1	137	736	0.00	2.53	0.00	0.000	516	0.000	0.104	2408	636	3288	3326	3251	0	0	0	0	0	0	14.88	14.62	14.88
757	-0.89	-146.6	2408	636	3325	3251	84.7	-18.3	142	764	0.00	2.50	0.00	0.000	1030	0.000	0.095	2398	2049	3287	3325	3250	0	0	0	0	0	0	14.75	14.64	14.76
885	-0.89	-146.6	2398	2057	3326	3251	97.6	-10.1	167	892	0.00	2.50	0.00	0.000	516	0.000	0.099	2398	644	3288	3325	3251	0	0	0	0	0	0	14.90	14.66	14.90
903	-0.89	-146.6	2398	644	3326	3251	98.9	-7.1	170	910	0.00	2.47	0.00	0.000	1030	0.000	0.089	2387	2059	3288	3326	3251	0	0	0	0	0	0	14.76	14.66	14.77
1031	-0.89	-146.6	2387	2059	3326	3251	109.9	-9.6	195	1039	0.00	2.53	0.00	0.000	516	0.000	0.099	2387	639	3288	3325	3251	0	0	0	0	0	0	14.92	14.67	14.92
1060	-0.89	-146.6	2387	639	3325	3251	113.0	-10.7	200	1067	0.00	2.47	0.00	0.000	1030	0.000	0.090	2376	2053	3288	3325	3251	0	0	0	0	0	0	14.79	14.67	14.81
1190	-0.89	-146.6	2377	2053	3326	3251	128.5	-12.4	225	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2053	3288	3326	3251	0	0	0	0	0	0	14.93	14.94	14.94
1318	-0.89	-146.6	2377	2053	3326	3251	143.8	-11.7	250	1324	0.00	2.55	0.00	0.000	260	0.000	0.124	2366	3468	3288	3326	3250	0	0	0	0	0	0	14.94	14.69	14.94
1356	-0.89	-146.6	2366	3468	3325	3251	148.3	-11.9	257	1363	0.12	2.42	0.00	0.000	3078	0.261	0.080	2400	2049	3288	3326	3251	0	0	0	0	0	0	14.64	14.73	14.78
1484	-0.89	-146.6	2400	2048	3326	3251	161.7	-10.7	282	1491	0.00	2.58	0.00	0.000	260	0.000	0.124	2391	3466	3288	3326	3251	0	0	0	0	0	0	14.94	14.69	14.97
1507	-0.89	-146.6	2390	3466	3326	3250	164.1	-10.6	286	1514	0.00	2.42	0.00	0.000	1030	0.000	0.082	2390	2051	3288	3326	3251	0	0	0	0	0	0	14.83	14.73	14.84
1619	end dive: BOTTOM_OBSTACLE_DETECTED
state	1620	begin apogee
1622	-0.25	0.0	2390	2050	3325	3251	176.3	-11.1	308	1738	0.70	0.00	107.05	2.234	10246	0.203	0.000	2602	2047	2705	2773	2637	0	0	0	0	0	0	14.66	13.83	13.27
1740	end apogee: CONTROL_FINISHED_OK
state	1740	begin climb
1741	0.89	146.6	2602	2047	2774	2637	181.2	0.0	329	1855	1.15	0.00	108.40	2.124	10246	0.145	0.000	2952	2047	2120	2204	2036	0	0	0	0	0	0	13.97	13.86	13.19
1977	0.95	198.2	2952	2047	2204	2039	171.0	6.1	373	2023	0.08	2.72	38.97	2.095	10500	0.183	0.123	2991	3460	1915	1997	1833	0	0	0	0	0	0	14.31	13.97	13.40
2115	0.95	198.2	2991	3461	1997	1833	156.3	13.0	399	2122	0.00	2.50	0.00	0.000	1030	0.000	0.081	3002	2054	1915	1997	1833	0	0	0	0	0	0	14.37	14.28	14.38
2243	0.95	198.2	3001	2053	1997	1832	142.5	9.6	424	2250	0.00	2.55	0.00	0.000	516	0.000	0.106	3013	641	1914	1997	1832	0	0	0	0	0	0	14.67	14.44	14.67
2305	0.95	198.2	3013	641	1997	1833	134.0	13.4	436	2312	0.00	2.53	0.00	0.000	1030	0.000	0.090	3014	2060	1915	1997	1833	0	0	0	0	0	0	14.56	14.46	14.57
2434	0.95	198.2	3013	2064	1997	1833	118.3	11.9	461	2440	0.00	2.58	0.00	0.000	260	0.000	0.127	3014	3462	1914	1997	1832	0	0	0	0	0	0	14.78	14.52	14.78
2517	0.95	198.2	3013	3462	1997	1840	108.1	12.1	477	2523	0.00	2.47	0.00	0.000	1030	0.000	0.083	3024	2042	1914	1997	1832	0	0	0	0	0	0	14.69	14.59	14.70
2645	0.95	198.2	3024	2040	1997	1832	91.9	12.6	502	2652	0.00	2.50	0.00	0.000	516	0.000	0.105	3036	640	1915	1998	1833	0	0	0	0	0	0	14.83	14.58	14.84
2718	0.95	198.2	3035	640	1997	1833	82.4	12.3	516	2726	0.12	2.50	0.00	0.000	5126	0.236	0.090	2999	2063	1914	1997	1832	0	0	0	0	0	0	14.59	14.63	14.71
2847	0.95	198.2	2999	2063	1998	1832	68.3	10.8	541	2854	0.00	2.55	0.00	0.000	516	0.000	0.104	3009	641	1914	1997	1832	0	0	0	0	0	0	14.88	14.64	14.89
2920	0.95	198.2	3009	641	1997	1832	60.1	11.2	555	2927	0.00	2.47	0.00	0.000	1030	0.000	0.088	3009	2053	1914	1997	1832	0	0	0	0	0	0	14.73	14.63	14.74
3049	0.95	198.2	3009	2054	1998	1832	45.5	11.0	580	3055	0.00	2.55	0.00	0.000	260	0.000	0.125	3009	3460	1914	1997	1832	0	0	0	0	0	0	14.88	14.64	14.90
3117	0.95	198.2	3009	3460	1997	1832	37.3	12.4	593	3124	0.00	2.45	0.00	0.000	1030	0.000	0.082	3020	2042	1915	1997	1833	0	0	0	0	0	0	14.77	14.68	14.78
3185	0.95	198.2	3020	2041	1997	1832	29.5	11.3	606	3191	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2042	1914	1997	1832	0	0	0	0	0	0	14.89	14.90	14.90
3252	0.95	198.2	3020	2041	1997	1832	22.1	11.4	619	3259	0.00	2.60	0.00	0.000	260	0.000	0.125	3020	3462	1914	1997	1832	0	0	0	0	0	0	14.90	14.65	14.88
3290	0.95	198.2	3020	3462	1997	1832	17.4	11.9	626	3298	0.12	2.45	0.00	0.000	5126	0.253	0.083	2996	2044	1914	1996	1832	0	0	0	0	0	0	14.60	14.66	14.73
3360	0.95	198.2	2995	2044	1997	1832	10.1	10.3	639	3365	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2044	1914	1997	1832	0	0	0	0	0	0	14.89	14.90	14.90
3427	0.95	198.2	2996	2044	1997	1832	2.4	10.9	652	3432	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2044	1914	1997	1832	0	0	0	0	0	0	14.91	14.92	14.91
3437	end climb: SURFACE_DEPTH_REACHED
state	3437	begin surface coast
3459	end surface coast: CONTROL_FINISHED_OK
state	3459	begin surface