Glider dive log

Shilshole 09Feb16.01 * SG220 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 HD_C 9.9999997e-06 C_ROLL_DIVE 2150 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 C_ROLL_CLIMB 2150 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 25 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 19 ALTIM_PULSE 3

D_TGT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 2

D_ABORT 1090 SM_CC 320 ROLL_MAXERRORS 2 XPDR_VALID 1

D_NO_BLEED 500 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 -2.4000001

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2849 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 128 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 190 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3888 MINV_24V 10 SIM_W 0

RELAUNCH 1 C_PITCH 2776 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044037569

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 1 SEABIRD_T_H 0.00063615869

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4815216e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9729028e-06

SPEED_FACTOR 1 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_G -9.8086529

RHO 1.023 PITCH_TIMEOUT 18 PRESSURE_YINT -169.69672 SEABIRD_C_H 1.075657

MASS 53159 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001077811 SEABIRD_C_I -0.0023452051

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00023101401

NAV_MODE 1 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 265 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038000001 ROLL_MAX 3829 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 160 SM_CC 320

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 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 3888 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 190 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 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 0.0038000001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001077811 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_C 9.9999997e-06 PRESSURE_YINT -169.69672 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 220 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 -2.4000001 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 2776 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2150 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 UNCOM_BLEED 60

C_ROLL_DIVE 2150 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2849 MASS 53159 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3829 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_MIN 265 VBD_CNV -0.25119999

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 25 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 19 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 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 128 SEABIRD_C_G -9.8086529 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 100 N_DIVES 25 SEABIRD_C_H 1.075657 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0023452051 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00023101401 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0044037569 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_H 0.00063615869 XPDR_VALID 1

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.4815216e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.9729028e-06

Pre-dive calculations and measurements:

GPS1 090216,235141,4743.6729,-12224.3486,2,0.9,5,16.0,0.5,178.4,11,8.9 SPEED_LIMITS 0.139,0.242

_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 336.4,1643,-14.9,-8.000,-18.27,2786

_SM_ANGLEo -65.7 D_GRID 180

GPS2 090216,235459,4743.6206,-12224.3242,2,0.9,5,16.0,0.8,192.3,11,9.1

Post-dive calculations and measurements:

FINISH 1.8,1.020387 _24V_AH 13.40,2.101

SM_CCo 3451,71.20,0.183,0,0,1574,320.03 _10V_AH 13.45,0.000

SM_GC 1.58,8.80,2.50,71.20,0.115,0.084,0.183,200,2164,1574,-8.01,-0.37,320.03,0,0,0,0,0,0,14.83,14.84,14.73 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12304.12,090216,234722 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.788697 MEM 313048

HUMID 39.64 DATA_FILE_SIZE 23387,673

INTERNAL_PRESSURE 8.8602 CAP_FILE_SIZE 120654,0

TCM_TEMP 17.00 CFSIZE 1024409600,1021329408

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

ALTIM_BOTTOM_PING 110.5,78.9 GPS 100216,005509,4743.829,-12224.547,45,0.8,52,16.0,0.4,154.7,11,6.9

SC_FREEKB 3907424

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 382 107.76 nil 0 0 0.00

Roll_motor 76 128 131.66 nil 0 0 0.00

VBD_pump_during_apogee 227 2151 6544.18 nil 0 0 0.00

VBD_pump_during_surface 71 182 174.44 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 SciCon 3429 30 1392.10

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.91

TT8 0 0 0.00

LPSleep 1722 2 50.73

TT8_Active 495 7 49.81

TT8_Sampling 1327 26 481.16

TT8_CF8 25 41 14.57

TT8_Kalman 0 0 0.00

Analog_circuits 1041 12 168.04

GPS_charging 0 0 0.00

Compass 1011 7 101.91

RAFOS 0 0 0.00

Transponder 5 30 2.27

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6 -0.92 -146.6 203 2148 571 408 0.0 0.0 0 113 0.00 0.00 -104.60 0.000 16386 0.000 0.000 203 2148 2995 2988 3003 0 0 0 0 0 0 15.06 28.83 15.06

115 -0.92 -146.6 204 2149 2989 3003 3.7 -8.8 19 138 9.98 0.00 -10.95 0.000 18950 0.383 0.000 2470 2147 3433 3448 3418 0 0 0 0 0 0 14.67 14.09 14.86

196 -0.92 -146.6 2470 2148 3450 3418 14.1 -11.7 35 203 0.00 2.50 0.00 0.000 516 0.000 0.096 2470 747 3433 3449 3418 0 0 0 0 0 0 15.02 14.78 15.02

227 -0.92 -146.6 2470 747 3449 3418 18.0 -13.2 41 234 0.00 2.47 0.00 0.000 1030 0.000 0.085 2460 2149 3433 3449 3418 0 0 0 0 0 0 14.88 14.79 14.89

293 -0.92 -146.6 2460 2150 3447 3418 25.9 -12.3 54 300 0.00 2.62 0.00 0.000 260 0.000 0.123 2448 3563 3433 3449 3418 0 0 0 0 0 0 15.04 14.76 15.03

334 -0.92 -146.6 2450 3563 3449 3418 31.4 -14.1 62 341 0.00 2.47 0.00 0.000 1030 0.000 0.079 2449 2153 3433 3449 3418 0 0 0 0 0 0 14.87 14.85 14.89

399 -0.92 -146.6 2450 2153 3449 3419 40.1 -13.3 75 400 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2153 3433 3449 3417 0 0 0 0 0 0 15.04 15.04 15.04

519 -0.92 -146.6 2450 2153 3449 3418 56.6 -13.9 99 526 0.00 2.62 0.00 0.000 260 0.000 0.119 2438 3565 3433 3449 3418 0 0 0 0 0 0 15.06 14.80 15.05

545 -0.92 -146.6 2438 3567 3449 3418 60.2 -13.4 104 552 0.10 2.50 0.00 0.000 3078 0.239 0.080 2467 2148 3433 3449 3418 0 0 0 0 0 0 14.76 14.83 14.88

671 -0.92 -146.6 2468 2149 3450 3418 76.6 -12.5 129 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 2148 3433 3449 3418 0 0 0 0 0 0 15.07 15.07 15.07

791 -0.92 -146.6 2468 2149 3449 3418 92.4 -13.1 153 798 0.00 2.50 0.00 0.000 516 0.000 0.100 2465 746 3433 3449 3418 0 0 0 0 0 0 15.07 14.83 15.07

842 -0.92 -146.6 2468 747 3449 3419 99.1 -13.4 163 849 0.00 2.47 0.00 0.000 1030 0.000 0.086 2458 2154 3433 3448 3418 0 0 0 0 0 0 14.92 14.83 14.93

968 -0.92 -146.6 2458 2155 3450 3417 115.7 -13.3 188 975 0.00 2.62 0.00 0.000 260 0.000 0.129 2447 3563 3433 3449 3418 0 0 0 0 0 0 15.09 14.81 15.08

1039 -0.92 -146.6 2448 3562 3449 3419 124.5 -13.1 202 1046 0.08 2.47 0.00 0.000 3078 0.247 0.079 2468 2150 3433 3448 3418 0 0 0 0 0 0 14.79 14.88 14.90

1165 -0.92 -146.6 2469 2150 3449 3419 139.6 -12.0 227 1172 0.00 2.62 0.00 0.000 260 0.000 0.122 2465 3563 3433 3449 3417 0 0 0 0 0 0 15.09 14.83 15.09

1226 -0.92 -146.6 2458 3563 3449 3417 147.1 -12.6 239 1233 0.00 2.47 0.00 0.000 1030 0.000 0.079 2458 2152 3433 3448 3418 0 0 0 0 0 0 14.94 14.88 14.95

1351 -0.92 -146.6 2458 2152 3449 3418 162.5 -12.0 264 1352 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2151 3433 3448 3418 0 0 0 0 0 0 15.09 15.09 15.10

1451 end dive: BOTTOM_OBSTACLE_DETECTED

state 1451 begin apogee

1453 -0.25 0.0 2459 2152 3450 3418 174.8 -12.5 284 1568 0.75 0.00 108.30 2.151 10246 0.206 0.000 2685 2151 2852 2894 2810 0 0 0 0 0 0 14.81 14.15 13.42

1569 end apogee: CONTROL_FINISHED_OK

state 1569 begin climb

1569 0.92 146.6 2686 2152 2895 2810 179.3 0.0 305 1692 1.20 2.70 112.18 2.020 10756 0.141 0.103 3054 741 2263 2327 2200 0 0 0 0 0 0 14.09 13.98 13.40

1716 0.92 146.6 3055 742 2328 2200 171.0 9.3 332 1723 0.00 2.62 0.00 0.000 1030 0.000 0.087 3052 2156 2263 2326 2200 0 0 0 0 0 0 14.27 14.19 14.28

1842 0.92 146.6 3055 2156 2328 2198 160.1 8.4 357 1849 0.00 2.67 0.00 0.000 260 0.000 0.124 3055 3558 2263 2327 2200 0 0 0 0 0 0 14.72 14.47 14.72

1898 0.92 146.6 3055 3559 2328 2199 154.7 9.7 368 1905 0.00 2.55 0.00 0.000 1030 0.000 0.083 3062 2148 2263 2327 2199 0 0 0 0 0 0 14.63 14.57 14.65

2023 0.92 146.6 3062 2148 2328 2199 143.3 8.6 393 2031 0.00 2.67 0.00 0.000 260 0.000 0.122 3060 3564 2263 2327 2200 0 0 0 0 0 0 14.89 14.61 14.92

2079 0.92 146.6 3063 3564 2328 2201 137.5 10.8 404 2086 0.00 2.53 0.00 0.000 1030 0.000 0.083 3071 2152 2263 2327 2200 0 0 0 0 0 0 14.74 14.68 14.76

2205 0.92 146.6 3071 2152 2325 2201 124.3 10.5 429 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2152 2263 2327 2200 0 0 0 0 0 0 14.97 14.97 14.97

2325 0.92 146.6 3071 2153 2328 2199 111.0 11.4 453 2332 0.00 2.55 0.00 0.000 516 0.000 0.104 3081 741 2263 2327 2199 0 0 0 0 0 0 15.00 14.74 15.00

2401 0.94 160.8 3082 741 2327 2201 104.1 7.5 468 2414 0.00 2.47 6.55 1.558 9222 0.000 0.085 3081 2148 2209 2275 2143 0 0 0 0 0 0 14.85 14.78 14.16

2532 0.94 160.8 3082 2148 2276 2145 90.1 10.7 494 2540 0.00 2.62 0.00 0.000 260 0.000 0.123 3081 3556 2209 2275 2144 0 0 0 0 0 0 14.98 14.73 14.99

2628 0.94 160.8 3081 3555 2276 2145 80.2 9.7 513 2636 0.00 2.50 0.00 0.000 1030 0.000 0.080 3090 2145 2209 2275 2144 0 0 0 0 0 0 14.82 14.76 14.84

2754 0.94 160.8 3090 2145 2273 2145 68.5 9.1 538 2761 0.00 2.53 0.00 0.000 516 0.000 0.107 3100 747 2209 2275 2144 0 0 0 0 0 0 15.04 14.76 15.04

2840 0.94 160.8 3100 747 2277 2144 60.1 9.5 555 2847 0.00 2.47 0.00 0.000 1030 0.000 0.084 3099 2152 2210 2275 2145 0 0 0 0 0 0 14.87 14.80 14.89

2966 0.94 160.8 3100 2151 2276 2144 48.7 11.0 580 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2153 2210 2276 2144 0 0 0 0 0 0 15.04 15.04 15.04

3086 0.94 160.8 3099 2152 2276 2145 35.0 10.0 604 3087 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2152 2210 2276 2144 0 0 0 0 0 0 15.05 15.05 15.05

3146 0.94 160.8 3100 2152 2276 2145 28.9 10.6 616 3153 0.00 2.58 0.00 0.000 260 0.000 0.119 3100 3550 2210 2275 2145 0 0 0 0 0 0 15.06 14.80 15.06

3182 0.94 160.8 3100 3550 2276 2146 24.7 11.6 623 3189 0.00 2.47 0.00 0.000 1030 0.000 0.081 3108 2156 2210 2275 2145 0 0 0 0 0 0 14.90 14.82 14.91

3248 0.94 160.8 3108 2152 2277 2145 17.5 10.9 636 3255 0.00 2.60 0.00 0.000 260 0.000 0.122 3108 3551 2210 2275 2145 0 0 0 0 0 0 15.05 14.79 15.05

3293 0.94 160.8 3108 3552 2276 2144 12.2 12.2 645 3301 0.12 2.50 0.00 0.000 5126 0.246 0.083 3082 2142 2210 2276 2145 0 0 0 0 0 0 14.73 14.83 14.85

3360 0.94 160.8 3082 2142 2276 2144 5.7 9.6 658 3367 0.00 2.53 0.00 0.000 516 0.000 0.107 3092 741 2210 2275 2145 0 0 0 0 0 0 15.06 14.79 15.06

3405 end climb: SURFACE_DEPTH_REACHED

state 3405 begin surface coast

3435 end surface coast: CONTROL_FINISHED_OK

state 3435 begin surface

ID	220	HD_C	9.9999997e-06	C_ROLL_DIVE	2150	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	C_ROLL_CLIMB	2150	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	25	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	19	ALTIM_PULSE	3
D_TGT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	2
D_ABORT	1090	SM_CC	320	ROLL_MAXERRORS	2	XPDR_VALID	1
D_NO_BLEED	500	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	-2.4000001
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2849	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	128	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	190	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3888	MINV_24V	10	SIM_W	0
RELAUNCH	1	C_PITCH	2776	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044037569
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	1	SEABIRD_T_H	0.00063615869
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4815216e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9729028e-06
SPEED_FACTOR	1	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8086529
RHO	1.023	PITCH_TIMEOUT	18	PRESSURE_YINT	-169.69672	SEABIRD_C_H	1.075657
MASS	53159	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001077811	SEABIRD_C_I	-0.0023452051
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00023101401
NAV_MODE	1	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	265	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038000001	ROLL_MAX	3829	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	090216,235141,4743.6729,-12224.3486,2,0.9,5,16.0,0.5,178.4,11,8.9	SPEED_LIMITS	0.139,0.242
_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	336.4,1643,-14.9,-8.000,-18.27,2786
_SM_ANGLEo	-65.7	D_GRID	180
GPS2	090216,235459,4743.6206,-12224.3242,2,0.9,5,16.0,0.8,192.3,11,9.1

FINISH	1.8,1.020387	_24V_AH	13.40,2.101
SM_CCo	3451,71.20,0.183,0,0,1574,320.03	_10V_AH	13.45,0.000
SM_GC	1.58,8.80,2.50,71.20,0.115,0.084,0.183,200,2164,1574,-8.01,-0.37,320.03,0,0,0,0,0,0,14.83,14.84,14.73	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12304.12,090216,234722	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.788697	MEM	313048
HUMID	39.64	DATA_FILE_SIZE	23387,673
INTERNAL_PRESSURE	8.8602	CAP_FILE_SIZE	120654,0
TCM_TEMP	17.00	CFSIZE	1024409600,1021329408
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	110.5,78.9	GPS	100216,005509,4743.829,-12224.547,45,0.8,52,16.0,0.4,154.7,11,6.9
SC_FREEKB	3907424

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	382	107.76	nil	0	0	0.00
Roll_motor	76	128	131.66	nil	0	0	0.00
VBD_pump_during_apogee	227	2151	6544.18	nil	0	0	0.00
VBD_pump_during_surface	71	182	174.44	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	SciCon	3429	30	1392.10
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.91
TT8	0	0	0.00
LPSleep	1722	2	50.73
TT8_Active	495	7	49.81
TT8_Sampling	1327	26	481.16
TT8_CF8	25	41	14.57
TT8_Kalman	0	0	0.00
Analog_circuits	1041	12	168.04
GPS_charging	0	0	0.00
Compass	1011	7	101.91
RAFOS	0	0	0.00
Transponder	5	30	2.27

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6	-0.92	-146.6	203	2148	571	408	0.0	0.0	0	113	0.00	0.00	-104.60	0.000	16386	0.000	0.000	203	2148	2995	2988	3003	0	0	0	0	0	0	15.06	28.83	15.06
115	-0.92	-146.6	204	2149	2989	3003	3.7	-8.8	19	138	9.98	0.00	-10.95	0.000	18950	0.383	0.000	2470	2147	3433	3448	3418	0	0	0	0	0	0	14.67	14.09	14.86
196	-0.92	-146.6	2470	2148	3450	3418	14.1	-11.7	35	203	0.00	2.50	0.00	0.000	516	0.000	0.096	2470	747	3433	3449	3418	0	0	0	0	0	0	15.02	14.78	15.02
227	-0.92	-146.6	2470	747	3449	3418	18.0	-13.2	41	234	0.00	2.47	0.00	0.000	1030	0.000	0.085	2460	2149	3433	3449	3418	0	0	0	0	0	0	14.88	14.79	14.89
293	-0.92	-146.6	2460	2150	3447	3418	25.9	-12.3	54	300	0.00	2.62	0.00	0.000	260	0.000	0.123	2448	3563	3433	3449	3418	0	0	0	0	0	0	15.04	14.76	15.03
334	-0.92	-146.6	2450	3563	3449	3418	31.4	-14.1	62	341	0.00	2.47	0.00	0.000	1030	0.000	0.079	2449	2153	3433	3449	3418	0	0	0	0	0	0	14.87	14.85	14.89
399	-0.92	-146.6	2450	2153	3449	3419	40.1	-13.3	75	400	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2153	3433	3449	3417	0	0	0	0	0	0	15.04	15.04	15.04
519	-0.92	-146.6	2450	2153	3449	3418	56.6	-13.9	99	526	0.00	2.62	0.00	0.000	260	0.000	0.119	2438	3565	3433	3449	3418	0	0	0	0	0	0	15.06	14.80	15.05
545	-0.92	-146.6	2438	3567	3449	3418	60.2	-13.4	104	552	0.10	2.50	0.00	0.000	3078	0.239	0.080	2467	2148	3433	3449	3418	0	0	0	0	0	0	14.76	14.83	14.88
671	-0.92	-146.6	2468	2149	3450	3418	76.6	-12.5	129	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	2148	3433	3449	3418	0	0	0	0	0	0	15.07	15.07	15.07
791	-0.92	-146.6	2468	2149	3449	3418	92.4	-13.1	153	798	0.00	2.50	0.00	0.000	516	0.000	0.100	2465	746	3433	3449	3418	0	0	0	0	0	0	15.07	14.83	15.07
842	-0.92	-146.6	2468	747	3449	3419	99.1	-13.4	163	849	0.00	2.47	0.00	0.000	1030	0.000	0.086	2458	2154	3433	3448	3418	0	0	0	0	0	0	14.92	14.83	14.93
968	-0.92	-146.6	2458	2155	3450	3417	115.7	-13.3	188	975	0.00	2.62	0.00	0.000	260	0.000	0.129	2447	3563	3433	3449	3418	0	0	0	0	0	0	15.09	14.81	15.08
1039	-0.92	-146.6	2448	3562	3449	3419	124.5	-13.1	202	1046	0.08	2.47	0.00	0.000	3078	0.247	0.079	2468	2150	3433	3448	3418	0	0	0	0	0	0	14.79	14.88	14.90
1165	-0.92	-146.6	2469	2150	3449	3419	139.6	-12.0	227	1172	0.00	2.62	0.00	0.000	260	0.000	0.122	2465	3563	3433	3449	3417	0	0	0	0	0	0	15.09	14.83	15.09
1226	-0.92	-146.6	2458	3563	3449	3417	147.1	-12.6	239	1233	0.00	2.47	0.00	0.000	1030	0.000	0.079	2458	2152	3433	3448	3418	0	0	0	0	0	0	14.94	14.88	14.95
1351	-0.92	-146.6	2458	2152	3449	3418	162.5	-12.0	264	1352	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2151	3433	3448	3418	0	0	0	0	0	0	15.09	15.09	15.10
1451	end dive: BOTTOM_OBSTACLE_DETECTED
state	1451	begin apogee
1453	-0.25	0.0	2459	2152	3450	3418	174.8	-12.5	284	1568	0.75	0.00	108.30	2.151	10246	0.206	0.000	2685	2151	2852	2894	2810	0	0	0	0	0	0	14.81	14.15	13.42
1569	end apogee: CONTROL_FINISHED_OK
state	1569	begin climb
1569	0.92	146.6	2686	2152	2895	2810	179.3	0.0	305	1692	1.20	2.70	112.18	2.020	10756	0.141	0.103	3054	741	2263	2327	2200	0	0	0	0	0	0	14.09	13.98	13.40
1716	0.92	146.6	3055	742	2328	2200	171.0	9.3	332	1723	0.00	2.62	0.00	0.000	1030	0.000	0.087	3052	2156	2263	2326	2200	0	0	0	0	0	0	14.27	14.19	14.28
1842	0.92	146.6	3055	2156	2328	2198	160.1	8.4	357	1849	0.00	2.67	0.00	0.000	260	0.000	0.124	3055	3558	2263	2327	2200	0	0	0	0	0	0	14.72	14.47	14.72
1898	0.92	146.6	3055	3559	2328	2199	154.7	9.7	368	1905	0.00	2.55	0.00	0.000	1030	0.000	0.083	3062	2148	2263	2327	2199	0	0	0	0	0	0	14.63	14.57	14.65
2023	0.92	146.6	3062	2148	2328	2199	143.3	8.6	393	2031	0.00	2.67	0.00	0.000	260	0.000	0.122	3060	3564	2263	2327	2200	0	0	0	0	0	0	14.89	14.61	14.92
2079	0.92	146.6	3063	3564	2328	2201	137.5	10.8	404	2086	0.00	2.53	0.00	0.000	1030	0.000	0.083	3071	2152	2263	2327	2200	0	0	0	0	0	0	14.74	14.68	14.76
2205	0.92	146.6	3071	2152	2325	2201	124.3	10.5	429	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2152	2263	2327	2200	0	0	0	0	0	0	14.97	14.97	14.97
2325	0.92	146.6	3071	2153	2328	2199	111.0	11.4	453	2332	0.00	2.55	0.00	0.000	516	0.000	0.104	3081	741	2263	2327	2199	0	0	0	0	0	0	15.00	14.74	15.00
2401	0.94	160.8	3082	741	2327	2201	104.1	7.5	468	2414	0.00	2.47	6.55	1.558	9222	0.000	0.085	3081	2148	2209	2275	2143	0	0	0	0	0	0	14.85	14.78	14.16
2532	0.94	160.8	3082	2148	2276	2145	90.1	10.7	494	2540	0.00	2.62	0.00	0.000	260	0.000	0.123	3081	3556	2209	2275	2144	0	0	0	0	0	0	14.98	14.73	14.99
2628	0.94	160.8	3081	3555	2276	2145	80.2	9.7	513	2636	0.00	2.50	0.00	0.000	1030	0.000	0.080	3090	2145	2209	2275	2144	0	0	0	0	0	0	14.82	14.76	14.84
2754	0.94	160.8	3090	2145	2273	2145	68.5	9.1	538	2761	0.00	2.53	0.00	0.000	516	0.000	0.107	3100	747	2209	2275	2144	0	0	0	0	0	0	15.04	14.76	15.04
2840	0.94	160.8	3100	747	2277	2144	60.1	9.5	555	2847	0.00	2.47	0.00	0.000	1030	0.000	0.084	3099	2152	2210	2275	2145	0	0	0	0	0	0	14.87	14.80	14.89
2966	0.94	160.8	3100	2151	2276	2144	48.7	11.0	580	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2153	2210	2276	2144	0	0	0	0	0	0	15.04	15.04	15.04
3086	0.94	160.8	3099	2152	2276	2145	35.0	10.0	604	3087	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2152	2210	2276	2144	0	0	0	0	0	0	15.05	15.05	15.05
3146	0.94	160.8	3100	2152	2276	2145	28.9	10.6	616	3153	0.00	2.58	0.00	0.000	260	0.000	0.119	3100	3550	2210	2275	2145	0	0	0	0	0	0	15.06	14.80	15.06
3182	0.94	160.8	3100	3550	2276	2146	24.7	11.6	623	3189	0.00	2.47	0.00	0.000	1030	0.000	0.081	3108	2156	2210	2275	2145	0	0	0	0	0	0	14.90	14.82	14.91
3248	0.94	160.8	3108	2152	2277	2145	17.5	10.9	636	3255	0.00	2.60	0.00	0.000	260	0.000	0.122	3108	3551	2210	2275	2145	0	0	0	0	0	0	15.05	14.79	15.05
3293	0.94	160.8	3108	3552	2276	2144	12.2	12.2	645	3301	0.12	2.50	0.00	0.000	5126	0.246	0.083	3082	2142	2210	2276	2145	0	0	0	0	0	0	14.73	14.83	14.85
3360	0.94	160.8	3082	2142	2276	2144	5.7	9.6	658	3367	0.00	2.53	0.00	0.000	516	0.000	0.107	3092	741	2210	2275	2145	0	0	0	0	0	0	15.06	14.79	15.06
3405	end climb: SURFACE_DEPTH_REACHED
state	3405	begin surface coast
3435	end surface coast: CONTROL_FINISHED_OK
state	3435	begin surface