Glider dive log

Shilshole 09Feb16.01 * SG220 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 HD_C 9.9999997e-06 C_ROLL_DIVE 2250 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 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 34 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 2250 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 22 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 34 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 8 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 100216,005509,4743.8286,-12224.5469,45,0.8,52,16.0,0.4,154.7,11,6.9 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 1.18 MHEAD_RNG_PITCHd_Wd 344.6,1440,-14.9,-8.000,-18.27,2786

_SM_ANGLEo -70.2 D_GRID 180

GPS2 100216,010342,4743.7227,-12224.5107,3,1.0,5,16.0,0.3,183.0,11,8.4

Post-dive calculations and measurements:

FINISH 0.1,1.005937 _24V_AH 13.38,2.306

SM_CCo 3535,5.32,0.202,0,0,1573,320.03 _10V_AH 13.42,0.000

SM_GC 2.49,8.80,0.20,5.32,0.090,0.123,0.202,195,2262,1573,-8.02,-0.48,320.03,0,0,0,0,0,0,14.80,14.81,14.73 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12217.96,090216,235218 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.856107 MEM 312936

HUMID 39.76 DATA_FILE_SIZE 23411,689

INTERNAL_PRESSURE 8.85043 CAP_FILE_SIZE 117940,0

TCM_TEMP 17.00 CFSIZE 1024409600,1021231104

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

ALTIM_BOTTOM_PING 115.1,73.7 GPS 100216,020502,4744.090,-12224.569,102,0.9,103,16.0,0.3,133.3,8,4.9

SC_FREEKB 3906976

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 379 108.27 nil 0 0 0.00

Roll_motor 76 2250 2312.71 nil 0 0 0.00

VBD_pump_during_apogee 290 2061 8006.61 nil 0 0 0.00

VBD_pump_during_surface 5 201 14.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 39 13.69 nil 0 0 0.00

Iridium_during_connect 35 160 75.18 SciCon 3576 29 1412.77

Iridium_during_xfer 305 223 912.29 nil 0 0 0.00

Transponder_ping 0 420 4.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 9 0.97

TT8 0 0 0.00

LPSleep 1764 2 51.86

TT8_Active 444 7 44.60

TT8_Sampling 1793 26 648.71

TT8_CF8 40 41 22.84

TT8_Kalman 0 0 0.00

Analog_circuits 1005 12 161.89

GPS_charging 0 0 0.00

Compass 1030 7 103.60

RAFOS 0 0 0.00

Transponder 7 30 3.04

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7 -0.92 -146.6 201 2260 1593 1537 0.0 0.0 0 65 0.00 0.00 -56.05 0.000 16386 0.000 0.000 199 2260 2919 2916 2922 0 0 0 0 0 0 14.89 28.83 14.89

66 -0.92 -146.6 200 2260 2915 2923 3.2 -6.4 10 95 10.07 2.67 -13.02 0.000 18948 0.379 2.251 2469 841 3433 3449 3417 0 0 0 0 0 0 14.55 13.95 14.75

113 -0.92 -146.6 2470 842 3450 3417 10.4 -12.5 19 121 0.00 2.50 0.00 0.000 1030 0.000 0.086 2459 2240 3434 3449 3419 0 0 0 0 0 0 14.68 14.62 14.70

179 -0.92 -146.6 2460 2240 3450 3418 18.6 -13.5 32 186 0.00 2.53 0.00 0.000 516 0.000 0.096 2459 845 3433 3449 3417 0 0 0 0 0 0 14.90 14.66 14.91

215 -0.92 -146.6 2459 845 3450 3417 24.0 -15.6 39 222 0.00 2.53 0.00 0.000 1030 0.000 0.088 2449 2252 3433 3449 3417 0 0 0 0 0 0 14.76 14.67 14.77

281 -0.92 -146.6 2449 2252 3450 3417 33.5 -13.8 52 288 0.00 2.65 0.00 0.000 260 0.000 0.129 2438 3659 3432 3449 3416 0 0 0 0 0 0 14.93 14.67 14.93

336 -0.92 -146.6 2439 3659 3450 3418 42.2 -15.6 63 344 0.12 2.50 0.00 0.000 3078 0.232 0.078 2474 2248 3433 3449 3417 0 0 0 0 0 0 14.65 14.74 14.77

462 -0.92 -146.6 2474 2247 3450 3418 60.0 -13.4 88 463 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2247 3433 3449 3417 0 0 0 0 0 0 14.99 14.99 14.98

582 -0.92 -146.6 2474 2247 3450 3418 75.8 -13.6 112 589 0.00 2.50 0.00 0.000 516 0.000 0.093 2474 841 3433 3449 3418 0 0 0 0 0 0 15.01 14.78 15.02

618 -0.92 -146.6 2477 841 3450 3418 80.4 -12.4 119 625 0.00 2.50 0.00 0.000 1030 0.000 0.086 2464 2251 3433 3449 3417 0 0 0 0 0 0 14.83 14.76 14.85

744 -0.92 -146.6 2465 2253 3450 3417 96.0 -12.6 144 751 0.00 2.62 0.00 0.000 260 0.000 0.126 2454 3657 3433 3449 3417 0 0 0 0 0 0 15.04 14.76 15.04

790 -0.92 -146.6 2453 3658 3450 3418 101.9 -13.3 153 797 0.00 2.47 0.00 0.000 1030 0.000 0.080 2454 2252 3433 3449 3417 0 0 0 0 0 0 14.88 14.83 14.90

915 -0.92 -146.6 2454 2252 3450 3418 117.6 -12.7 178 923 0.00 2.50 0.00 0.000 516 0.000 0.098 2454 847 3433 3449 3417 0 0 0 0 0 0 15.05 14.81 15.06

956 -0.92 -146.6 2454 847 3450 3418 122.7 -12.8 186 964 0.10 2.47 0.00 0.000 3078 0.246 0.088 2471 2248 3433 3449 3417 0 0 0 0 0 0 14.76 14.81 14.88

1082 -0.92 -146.6 2472 2250 3450 3417 138.4 -11.8 211 1083 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2249 3433 3449 3417 0 0 0 0 0 0 15.07 15.07 15.07

1202 -0.92 -146.6 2473 2249 3450 3418 153.4 -12.4 235 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2249 3433 3449 3417 0 0 0 0 0 0 15.07 15.08 15.08

1322 -0.92 -146.6 2473 2249 3451 3418 167.7 -11.3 259 1330 0.00 2.60 0.00 0.000 260 0.000 0.123 2462 3654 3433 3449 3417 0 0 0 0 0 0 15.09 14.82 15.09

1373 end dive: BOTTOM_OBSTACLE_DETECTED

state 1373 begin apogee

1378 -0.25 0.0 2463 2139 3451 3418 173.9 -11.8 269 1493 0.75 0.00 107.70 2.062 10246 0.204 0.000 2689 2139 2850 2897 2803 0 0 0 0 0 0 14.80 14.07 13.47

1494 end apogee: CONTROL_FINISHED_OK

state 1494 begin climb

1495 0.92 146.6 2689 2140 2898 2803 178.3 0.0 290 1612 1.20 0.00 111.45 2.013 10758 0.140 0.000 3053 2138 2264 2330 2199 0 0 0 0 0 0 14.12 14.05 13.38

1731 0.92 146.6 3054 2140 2331 2199 163.0 8.9 335 1738 0.00 2.72 0.00 0.000 260 0.000 0.120 3054 3558 2264 2330 2199 0 0 0 0 0 0 14.66 14.41 14.66

1852 0.92 146.6 3054 3559 2331 2199 151.1 10.1 359 1859 0.00 2.53 0.00 0.000 1030 0.000 0.080 3058 2152 2264 2330 2199 0 0 0 0 0 0 14.64 14.58 14.67

1977 0.92 146.6 3056 2154 2331 2199 139.8 8.7 384 1985 0.00 2.58 0.00 0.000 516 0.000 0.107 3066 742 2264 2330 2199 0 0 0 0 0 0 14.88 14.64 14.88

2083 0.92 146.6 3066 744 2331 2199 130.0 10.0 405 2090 0.00 2.50 0.00 0.000 1030 0.000 0.087 3067 2149 2264 2330 2199 0 0 0 0 0 0 14.78 14.71 14.79

2209 0.92 146.6 3066 2151 2331 2199 118.4 9.6 430 2216 0.00 2.55 0.00 0.000 516 0.000 0.106 3076 746 2264 2330 2199 0 0 0 0 0 0 14.98 14.71 14.98

2250 0.92 146.6 3076 747 2330 2199 114.2 10.1 438 2257 0.00 2.50 0.00 0.000 1030 0.000 0.090 3076 2149 2264 2330 2199 0 0 0 0 0 0 14.81 14.75 14.83

2376 0.92 146.6 3076 2150 2331 2199 102.2 9.7 463 2383 0.00 2.62 0.00 0.000 260 0.000 0.124 3075 3555 2264 2330 2199 0 0 0 0 0 0 15.02 14.76 15.02

2426 0.92 146.6 3076 3555 2331 2200 96.6 11.3 473 2434 0.00 2.50 0.00 0.000 1030 0.000 0.083 3083 2145 2264 2330 2199 0 0 0 0 0 0 14.86 14.80 14.88

2552 0.92 146.6 3083 2146 2330 2199 84.1 10.0 498 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2145 2264 2330 2199 0 0 0 0 0 0 15.03 15.03 15.03

2672 0.92 146.6 3083 2146 2331 2199 71.0 10.3 522 2679 0.00 2.53 0.00 0.000 516 0.000 0.106 3093 743 2264 2330 2199 0 0 0 0 0 0 15.04 14.81 15.04

2793 0.92 146.6 3093 743 2330 2200 57.7 11.6 546 2800 0.00 2.50 0.00 0.000 1030 0.000 0.087 3092 2162 2264 2330 2199 0 0 0 0 0 0 14.90 14.82 14.92

2919 0.92 146.6 3092 2163 2331 2199 45.2 9.1 571 2926 0.00 2.58 0.00 0.000 260 0.000 0.124 3093 3553 2264 2330 2199 0 0 0 0 0 0 15.05 14.78 15.05

2989 0.92 146.6 3093 3554 2331 2199 38.2 10.1 585 2997 0.00 2.50 0.00 0.000 1030 0.000 0.084 3099 2145 2264 2329 2199 0 0 0 0 0 0 14.89 14.83 14.92

3055 0.92 146.6 3102 2145 2330 2200 31.8 9.9 598 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 3102 2145 2265 2331 2199 0 0 0 0 0 0 15.06 15.06 15.07

3115 0.92 146.6 3102 2145 2331 2200 25.4 10.9 610 3123 0.00 2.53 0.00 0.000 516 0.000 0.108 3113 748 2264 2330 2198 0 0 0 0 0 0 15.06 14.81 15.06

3156 0.92 146.6 3113 748 2330 2200 20.6 11.6 618 3164 0.12 2.47 0.00 0.000 5126 0.238 0.090 3078 2148 2264 2329 2199 0 0 0 0 0 0 14.76 14.83 14.88

3222 0.92 146.6 3079 2148 2330 2200 13.7 9.9 631 3229 0.00 2.62 0.00 0.000 260 0.000 0.131 3078 3556 2266 2330 2202 0 0 0 0 0 0 15.05 14.80 15.05

3258 0.92 146.6 3079 3555 2330 2200 9.9 10.8 638 3265 0.00 2.50 0.00 0.000 1030 0.000 0.087 3087 2149 2264 2330 2199 0 0 0 0 0 0 14.90 14.84 14.92

3324 0.92 146.6 3087 2151 2330 2199 4.3 8.4 651 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2150 2264 2330 2199 0 0 0 0 0 0 15.07 15.07 15.07

3384 1.19 362.4 3087 2151 2331 2199 2.3 0.1 663 3458 0.15 0.00 71.10 0.185 10754 0.130 0.000 3153 2149 1625 1695 1556 0 0 0 0 0 0 14.85 28.83 14.95

3458 end climb: SURFACE_DEPTH_REACHED

state 3458 begin surface coast

3521 end surface coast: CONTROL_FINISHED_OK

state 3521 begin surface

ID	220	HD_C	9.9999997e-06	C_ROLL_DIVE	2250	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	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	34	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	100216,005509,4743.8286,-12224.5469,45,0.8,52,16.0,0.4,154.7,11,6.9	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	1.18	MHEAD_RNG_PITCHd_Wd	344.6,1440,-14.9,-8.000,-18.27,2786
_SM_ANGLEo	-70.2	D_GRID	180
GPS2	100216,010342,4743.7227,-12224.5107,3,1.0,5,16.0,0.3,183.0,11,8.4

FINISH	0.1,1.005937	_24V_AH	13.38,2.306
SM_CCo	3535,5.32,0.202,0,0,1573,320.03	_10V_AH	13.42,0.000
SM_GC	2.49,8.80,0.20,5.32,0.090,0.123,0.202,195,2262,1573,-8.02,-0.48,320.03,0,0,0,0,0,0,14.80,14.81,14.73	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12217.96,090216,235218	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.856107	MEM	312936
HUMID	39.76	DATA_FILE_SIZE	23411,689
INTERNAL_PRESSURE	8.85043	CAP_FILE_SIZE	117940,0
TCM_TEMP	17.00	CFSIZE	1024409600,1021231104
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	115.1,73.7	GPS	100216,020502,4744.090,-12224.569,102,0.9,103,16.0,0.3,133.3,8,4.9
SC_FREEKB	3906976

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	379	108.27	nil	0	0	0.00
Roll_motor	76	2250	2312.71	nil	0	0	0.00
VBD_pump_during_apogee	290	2061	8006.61	nil	0	0	0.00
VBD_pump_during_surface	5	201	14.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	39	13.69	nil	0	0	0.00
Iridium_during_connect	35	160	75.18	SciCon	3576	29	1412.77
Iridium_during_xfer	305	223	912.29	nil	0	0	0.00
Transponder_ping	0	420	4.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	9	0.97
TT8	0	0	0.00
LPSleep	1764	2	51.86
TT8_Active	444	7	44.60
TT8_Sampling	1793	26	648.71
TT8_CF8	40	41	22.84
TT8_Kalman	0	0	0.00
Analog_circuits	1005	12	161.89
GPS_charging	0	0	0.00
Compass	1030	7	103.60
RAFOS	0	0	0.00
Transponder	7	30	3.04

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7	-0.92	-146.6	201	2260	1593	1537	0.0	0.0	0	65	0.00	0.00	-56.05	0.000	16386	0.000	0.000	199	2260	2919	2916	2922	0	0	0	0	0	0	14.89	28.83	14.89
66	-0.92	-146.6	200	2260	2915	2923	3.2	-6.4	10	95	10.07	2.67	-13.02	0.000	18948	0.379	2.251	2469	841	3433	3449	3417	0	0	0	0	0	0	14.55	13.95	14.75
113	-0.92	-146.6	2470	842	3450	3417	10.4	-12.5	19	121	0.00	2.50	0.00	0.000	1030	0.000	0.086	2459	2240	3434	3449	3419	0	0	0	0	0	0	14.68	14.62	14.70
179	-0.92	-146.6	2460	2240	3450	3418	18.6	-13.5	32	186	0.00	2.53	0.00	0.000	516	0.000	0.096	2459	845	3433	3449	3417	0	0	0	0	0	0	14.90	14.66	14.91
215	-0.92	-146.6	2459	845	3450	3417	24.0	-15.6	39	222	0.00	2.53	0.00	0.000	1030	0.000	0.088	2449	2252	3433	3449	3417	0	0	0	0	0	0	14.76	14.67	14.77
281	-0.92	-146.6	2449	2252	3450	3417	33.5	-13.8	52	288	0.00	2.65	0.00	0.000	260	0.000	0.129	2438	3659	3432	3449	3416	0	0	0	0	0	0	14.93	14.67	14.93
336	-0.92	-146.6	2439	3659	3450	3418	42.2	-15.6	63	344	0.12	2.50	0.00	0.000	3078	0.232	0.078	2474	2248	3433	3449	3417	0	0	0	0	0	0	14.65	14.74	14.77
462	-0.92	-146.6	2474	2247	3450	3418	60.0	-13.4	88	463	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2247	3433	3449	3417	0	0	0	0	0	0	14.99	14.99	14.98
582	-0.92	-146.6	2474	2247	3450	3418	75.8	-13.6	112	589	0.00	2.50	0.00	0.000	516	0.000	0.093	2474	841	3433	3449	3418	0	0	0	0	0	0	15.01	14.78	15.02
618	-0.92	-146.6	2477	841	3450	3418	80.4	-12.4	119	625	0.00	2.50	0.00	0.000	1030	0.000	0.086	2464	2251	3433	3449	3417	0	0	0	0	0	0	14.83	14.76	14.85
744	-0.92	-146.6	2465	2253	3450	3417	96.0	-12.6	144	751	0.00	2.62	0.00	0.000	260	0.000	0.126	2454	3657	3433	3449	3417	0	0	0	0	0	0	15.04	14.76	15.04
790	-0.92	-146.6	2453	3658	3450	3418	101.9	-13.3	153	797	0.00	2.47	0.00	0.000	1030	0.000	0.080	2454	2252	3433	3449	3417	0	0	0	0	0	0	14.88	14.83	14.90
915	-0.92	-146.6	2454	2252	3450	3418	117.6	-12.7	178	923	0.00	2.50	0.00	0.000	516	0.000	0.098	2454	847	3433	3449	3417	0	0	0	0	0	0	15.05	14.81	15.06
956	-0.92	-146.6	2454	847	3450	3418	122.7	-12.8	186	964	0.10	2.47	0.00	0.000	3078	0.246	0.088	2471	2248	3433	3449	3417	0	0	0	0	0	0	14.76	14.81	14.88
1082	-0.92	-146.6	2472	2250	3450	3417	138.4	-11.8	211	1083	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2249	3433	3449	3417	0	0	0	0	0	0	15.07	15.07	15.07
1202	-0.92	-146.6	2473	2249	3450	3418	153.4	-12.4	235	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2249	3433	3449	3417	0	0	0	0	0	0	15.07	15.08	15.08
1322	-0.92	-146.6	2473	2249	3451	3418	167.7	-11.3	259	1330	0.00	2.60	0.00	0.000	260	0.000	0.123	2462	3654	3433	3449	3417	0	0	0	0	0	0	15.09	14.82	15.09
1373	end dive: BOTTOM_OBSTACLE_DETECTED
state	1373	begin apogee
1378	-0.25	0.0	2463	2139	3451	3418	173.9	-11.8	269	1493	0.75	0.00	107.70	2.062	10246	0.204	0.000	2689	2139	2850	2897	2803	0	0	0	0	0	0	14.80	14.07	13.47
1494	end apogee: CONTROL_FINISHED_OK
state	1494	begin climb
1495	0.92	146.6	2689	2140	2898	2803	178.3	0.0	290	1612	1.20	0.00	111.45	2.013	10758	0.140	0.000	3053	2138	2264	2330	2199	0	0	0	0	0	0	14.12	14.05	13.38
1731	0.92	146.6	3054	2140	2331	2199	163.0	8.9	335	1738	0.00	2.72	0.00	0.000	260	0.000	0.120	3054	3558	2264	2330	2199	0	0	0	0	0	0	14.66	14.41	14.66
1852	0.92	146.6	3054	3559	2331	2199	151.1	10.1	359	1859	0.00	2.53	0.00	0.000	1030	0.000	0.080	3058	2152	2264	2330	2199	0	0	0	0	0	0	14.64	14.58	14.67
1977	0.92	146.6	3056	2154	2331	2199	139.8	8.7	384	1985	0.00	2.58	0.00	0.000	516	0.000	0.107	3066	742	2264	2330	2199	0	0	0	0	0	0	14.88	14.64	14.88
2083	0.92	146.6	3066	744	2331	2199	130.0	10.0	405	2090	0.00	2.50	0.00	0.000	1030	0.000	0.087	3067	2149	2264	2330	2199	0	0	0	0	0	0	14.78	14.71	14.79
2209	0.92	146.6	3066	2151	2331	2199	118.4	9.6	430	2216	0.00	2.55	0.00	0.000	516	0.000	0.106	3076	746	2264	2330	2199	0	0	0	0	0	0	14.98	14.71	14.98
2250	0.92	146.6	3076	747	2330	2199	114.2	10.1	438	2257	0.00	2.50	0.00	0.000	1030	0.000	0.090	3076	2149	2264	2330	2199	0	0	0	0	0	0	14.81	14.75	14.83
2376	0.92	146.6	3076	2150	2331	2199	102.2	9.7	463	2383	0.00	2.62	0.00	0.000	260	0.000	0.124	3075	3555	2264	2330	2199	0	0	0	0	0	0	15.02	14.76	15.02
2426	0.92	146.6	3076	3555	2331	2200	96.6	11.3	473	2434	0.00	2.50	0.00	0.000	1030	0.000	0.083	3083	2145	2264	2330	2199	0	0	0	0	0	0	14.86	14.80	14.88
2552	0.92	146.6	3083	2146	2330	2199	84.1	10.0	498	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2145	2264	2330	2199	0	0	0	0	0	0	15.03	15.03	15.03
2672	0.92	146.6	3083	2146	2331	2199	71.0	10.3	522	2679	0.00	2.53	0.00	0.000	516	0.000	0.106	3093	743	2264	2330	2199	0	0	0	0	0	0	15.04	14.81	15.04
2793	0.92	146.6	3093	743	2330	2200	57.7	11.6	546	2800	0.00	2.50	0.00	0.000	1030	0.000	0.087	3092	2162	2264	2330	2199	0	0	0	0	0	0	14.90	14.82	14.92
2919	0.92	146.6	3092	2163	2331	2199	45.2	9.1	571	2926	0.00	2.58	0.00	0.000	260	0.000	0.124	3093	3553	2264	2330	2199	0	0	0	0	0	0	15.05	14.78	15.05
2989	0.92	146.6	3093	3554	2331	2199	38.2	10.1	585	2997	0.00	2.50	0.00	0.000	1030	0.000	0.084	3099	2145	2264	2329	2199	0	0	0	0	0	0	14.89	14.83	14.92
3055	0.92	146.6	3102	2145	2330	2200	31.8	9.9	598	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	3102	2145	2265	2331	2199	0	0	0	0	0	0	15.06	15.06	15.07
3115	0.92	146.6	3102	2145	2331	2200	25.4	10.9	610	3123	0.00	2.53	0.00	0.000	516	0.000	0.108	3113	748	2264	2330	2198	0	0	0	0	0	0	15.06	14.81	15.06
3156	0.92	146.6	3113	748	2330	2200	20.6	11.6	618	3164	0.12	2.47	0.00	0.000	5126	0.238	0.090	3078	2148	2264	2329	2199	0	0	0	0	0	0	14.76	14.83	14.88
3222	0.92	146.6	3079	2148	2330	2200	13.7	9.9	631	3229	0.00	2.62	0.00	0.000	260	0.000	0.131	3078	3556	2266	2330	2202	0	0	0	0	0	0	15.05	14.80	15.05
3258	0.92	146.6	3079	3555	2330	2200	9.9	10.8	638	3265	0.00	2.50	0.00	0.000	1030	0.000	0.087	3087	2149	2264	2330	2199	0	0	0	0	0	0	14.90	14.84	14.92
3324	0.92	146.6	3087	2151	2330	2199	4.3	8.4	651	3325	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2150	2264	2330	2199	0	0	0	0	0	0	15.07	15.07	15.07
3384	1.19	362.4	3087	2151	2331	2199	2.3	0.1	663	3458	0.15	0.00	71.10	0.185	10754	0.130	0.000	3153	2149	1625	1695	1556	0	0	0	0	0	0	14.85	28.83	14.95
3458	end climb: SURFACE_DEPTH_REACHED
state	3458	begin surface coast
3521	end surface coast: CONTROL_FINISHED_OK
state	3521	begin surface