Glider dive log

Shilshole 09Feb16.01 * SG219 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 HD_C 1.6100001e-05 C_ROLL_DIVE 2150 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

DIVE 9 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 40 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 300 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 15 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 15 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 2150 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 300 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 40 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 9 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 100216,021846,4744.4253,-12224.6416,10,0.9,11,16.0,0.3,141.6,10,10.0 SPEED_LIMITS 0.299,0.314

_CALLS 1 TGT_NAME SOUTH

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 163.8,2522,-8.8,-8.000,-14.29,5345

_SM_ANGLEo -68.5 D_GRID 180

GPS2 100216,023002,4744.3618,-12224.5078,3,0.9,4,16.0,0.3,67.5,10,7.4

Post-dive calculations and measurements:

FINISH 0.3,1.019780 _24V_AH 13.22,3.389

SM_CCo 3831,0.00,0.000,0,0,1373,334.35 _10V_AH 13.31,0.000

SM_GC 1.01,8.12,2.72,0.00,0.089,0.089,0.000,209,2161,1373,-7.72,-0.34,334.35,0,0,0,0,0,0,14.68,14.66,14.75 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,100216,010630 FG_AHR_10Vo 0.000

TT8_MAMPS 0.036701,0.875581 MEM 313048

HUMID 40.23 DATA_FILE_SIZE 23370,715

INTERNAL_PRESSURE 8.9691 CAP_FILE_SIZE 118825,0

TCM_TEMP 16.30 CFSIZE 1024409600,1021001728

XPDR_PINGS 23 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 125.4,69.4 GPS 100216,033532,4744.145,-12224.600,12,1.0,29,16.0,0.1,0.0,9,4.2

SC_FREEKB 3906528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 366 95.31 nil 0 0 0.00

Roll_motor 66 2264 1978.73 nil 0 0 0.00

VBD_pump_during_apogee 444 2071 12172.07 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 41 12.85 nil 0 0 0.00

Iridium_during_connect 37 160 79.02 SciCon 3813 28 1447.51

Iridium_during_xfer 448 223 1322.26 nil 0 0 0.00

Transponder_ping 7 420 38.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.76

TT8 1471 27 547.34

LPSleep 754 2 22.00

TT8_Active 531 27 197.58

TT8_Sampling 1704 47 1075.72

TT8_CF8 52 65 45.56

TT8_Kalman 0 0 0.00

Analog_circuits 1166 11 170.72

GPS_charging 0 0 0.00

Compass 1072 7 106.91

RAFOS 0 0 0.00

Transponder 10 30 4.14

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

9 -0.80 -293.3 209 2171 1500 1427 0.0 0.0 0 67 0.00 0.00 -56.10 0.000 16386 0.000 0.000 209 2172 2811 2834 2789 0 0 0 0 0 0 14.70 28.83 14.71

69 -0.80 -293.3 209 2172 2834 2789 3.1 -7.3 10 111 9.57 2.70 -24.00 0.000 19204 0.366 2.264 2412 3541 3872 3909 3836 0 0 0 0 0 0 14.40 13.77 14.59

282 -0.80 -293.3 2412 3541 3909 3837 28.9 -13.2 51 289 0.00 2.42 0.00 0.000 1030 0.000 0.078 2412 2141 3873 3909 3837 0 0 0 0 0 0 14.65 14.57 14.66

350 -0.80 -293.3 2411 2137 3909 3836 37.6 -12.2 64 356 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2137 3873 3909 3837 0 0 0 0 0 0 14.79 14.80 14.80

417 -0.80 -293.3 2412 2137 3909 3837 45.3 -11.4 77 423 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2138 3872 3909 3836 0 0 0 0 0 0 14.81 14.82 14.82

544 -0.80 -293.3 2411 2137 3909 3836 60.3 -11.4 102 550 0.00 2.47 0.00 0.000 516 0.000 0.097 2410 736 3873 3909 3837 0 0 0 0 0 0 14.84 14.59 14.85

576 -0.80 -293.3 2412 737 3909 3837 64.4 -12.4 108 583 0.00 2.45 0.00 0.000 1030 0.000 0.089 2402 2130 3873 3909 3837 0 0 0 0 0 0 14.73 14.62 14.74

705 -0.80 -293.3 2401 2130 3909 3835 79.7 -12.4 133 711 0.00 2.62 0.00 0.000 260 0.000 0.129 2391 3564 3872 3908 3836 0 0 0 0 0 0 14.87 14.60 14.88

798 -0.80 -293.3 2391 3564 3909 3836 91.5 -12.3 151 805 0.12 2.45 0.00 0.000 3078 0.236 0.080 2427 2141 3872 3908 3836 0 0 0 0 0 0 14.61 14.67 14.73

927 -0.80 -293.3 2427 2137 3909 3836 105.0 -10.2 176 933 0.00 2.47 0.00 0.000 516 0.000 0.099 2428 734 3872 3909 3836 0 0 0 0 0 0 14.90 14.66 14.90

980 -0.80 -293.3 2427 734 3909 3835 110.4 -10.4 186 987 0.00 2.50 0.00 0.000 1030 0.000 0.091 2418 2158 3872 3909 3836 0 0 0 0 0 0 14.76 14.66 14.78

1110 -0.80 -293.3 2418 2158 3909 3836 124.1 -10.3 211 1116 0.00 2.55 0.00 0.000 260 0.000 0.132 2408 3558 3872 3909 3836 0 0 0 0 0 0 14.92 14.64 14.92

1184 -0.80 -293.3 2407 3558 3905 3836 132.1 -10.5 225 1191 0.00 2.42 0.00 0.000 1030 0.000 0.080 2408 2146 3872 3909 3836 0 0 0 0 0 0 14.78 14.70 14.79

1312 -0.80 -293.3 2407 2142 3909 3836 146.8 -11.7 250 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2141 3872 3909 3836 0 0 0 0 0 0 14.92 14.93 14.93

1439 -0.80 -293.3 2407 2141 3909 3836 161.4 -11.5 275 1446 0.00 2.47 0.00 0.000 516 0.000 0.098 2408 738 3870 3908 3833 0 0 0 0 0 0 14.94 14.68 14.95

1472 -0.80 -293.3 2407 738 3909 3836 165.3 -12.3 281 1479 0.10 2.47 0.00 0.000 3078 0.243 0.091 2427 2154 3872 3909 3836 0 0 0 0 0 0 14.67 14.71 14.79

1601 -0.80 -293.3 2426 2154 3907 3836 179.0 -10.3 306 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2154 3872 3909 3836 0 0 0 0 0 0 14.95 14.95 14.95

1612 end dive: BOTTOM_OBSTACLE_DETECTED

state 1612 begin apogee

1615 -0.25 0.0 2427 2034 3909 3836 180.0 -9.8 308 1836 0.57 0.00 211.52 2.072 10246 0.176 0.000 2610 2034 2705 2779 2631 0 0 0 0 0 0 14.66 13.89 13.22

1837 end apogee: CONTROL_FINISHED_OK

state 1837 begin climb

1838 0.80 293.3 2610 2034 2779 2632 186.2 0.0 348 2063 1.05 2.65 213.15 2.018 10756 0.148 0.102 2936 649 1536 1614 1459 0 0 0 0 0 0 13.87 13.73 13.24

2120 0.80 293.3 2936 649 1613 1457 168.9 10.8 399 2126 0.00 2.58 0.00 0.000 1030 0.000 0.090 2936 2052 1535 1613 1457 0 0 0 0 0 0 14.23 14.11 14.24

2248 0.80 293.3 2935 2057 1613 1456 154.9 11.1 424 2254 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2057 1534 1613 1456 0 0 0 0 0 0 14.57 14.57 14.57

2375 0.80 293.3 2936 2057 1613 1455 140.4 11.5 449 2382 0.00 2.55 0.00 0.000 516 0.000 0.103 2945 653 1534 1613 1455 0 0 0 0 0 0 14.69 14.45 14.69

2423 0.80 293.3 2945 654 1613 1455 134.7 11.3 458 2430 0.00 2.50 0.00 0.000 1030 0.000 0.089 2945 2059 1534 1613 1455 0 0 0 0 0 0 14.57 14.47 14.59

2551 0.80 293.3 2945 2062 1613 1455 118.9 12.6 483 2558 0.00 2.58 0.00 0.000 260 0.000 0.125 2945 3464 1534 1613 1455 0 0 0 0 0 0 14.76 14.52 14.77

2584 0.80 293.3 2945 3464 1613 1456 114.9 12.8 489 2591 0.00 2.45 0.00 0.000 1030 0.000 0.084 2954 2061 1534 1613 1455 0 0 0 0 0 0 14.66 14.57 14.66

2713 0.80 293.3 2953 2062 1613 1455 99.5 9.9 514 2719 0.00 2.55 0.00 0.000 516 0.000 0.106 2965 640 1533 1612 1455 0 0 0 0 0 0 14.82 14.57 14.83

2746 0.80 293.3 2964 640 1613 1456 96.3 10.3 520 2752 0.00 2.50 0.00 0.000 1030 0.000 0.092 2965 2054 1534 1613 1455 0 0 0 0 0 0 14.69 14.59 14.71

2874 0.80 293.3 2964 2056 1613 1455 83.8 10.4 545 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2056 1534 1613 1455 0 0 0 0 0 0 14.85 14.85 14.85

3001 0.80 293.3 2964 2059 1613 1455 71.1 9.3 570 3007 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2059 1534 1613 1455 0 0 0 0 0 0 14.86 14.87 14.87

3128 0.80 293.3 2964 2059 1613 1455 59.1 10.0 595 3134 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2059 1534 1613 1455 0 0 0 0 0 0 14.88 14.88 14.89

3255 0.80 293.3 2964 2059 1613 1455 46.6 9.2 620 3261 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2059 1534 1613 1455 0 0 0 0 0 0 14.90 14.90 14.90

3382 0.80 293.3 2964 2059 1613 1455 34.5 10.7 645 3389 0.00 2.55 0.00 0.000 260 0.000 0.125 2965 3459 1534 1613 1455 0 0 0 0 0 0 14.89 14.63 14.89

3450 0.80 293.3 2965 3458 1613 1455 26.9 11.5 658 3457 0.00 2.45 0.00 0.000 1030 0.000 0.084 2975 2043 1534 1613 1455 0 0 0 0 0 0 14.78 14.69 14.79

3519 0.80 293.3 2975 2043 1613 1455 19.7 10.1 671 3525 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2043 1534 1613 1455 0 0 0 0 0 0 14.90 14.91 14.90

3586 0.80 293.3 2975 2043 1613 1455 13.4 9.1 684 3592 0.00 2.60 0.00 0.000 260 0.000 0.125 2973 3463 1534 1613 1455 0 0 0 0 0 0 14.90 14.65 14.90

3624 0.80 293.3 2975 3463 1613 1454 9.8 9.2 691 3631 0.12 2.45 0.00 0.000 5126 0.229 0.084 2949 2048 1533 1613 1453 0 0 0 0 0 0 14.64 14.69 14.76

3693 0.85 333.3 2948 2048 1614 1455 4.7 7.2 704 3722 0.00 2.55 19.77 0.197 8708 0.000 0.106 2959 641 1374 1450 1298 0 0 0 0 0 0 14.90 14.63 14.61

3733 end climb: SURFACE_DEPTH_REACHED

state 3733 begin surface coast

3753 end surface coast: CONTROL_FINISHED_OK

state 3753 begin surface

ID	219	HD_C	1.6100001e-05	C_ROLL_DIVE	2150	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
DIVE	9	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	40	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	300	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	15	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	100216,021846,4744.4253,-12224.6416,10,0.9,11,16.0,0.3,141.6,10,10.0	SPEED_LIMITS	0.299,0.314
_CALLS	1	TGT_NAME	SOUTH
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	163.8,2522,-8.8,-8.000,-14.29,5345
_SM_ANGLEo	-68.5	D_GRID	180
GPS2	100216,023002,4744.3618,-12224.5078,3,0.9,4,16.0,0.3,67.5,10,7.4

FINISH	0.3,1.019780	_24V_AH	13.22,3.389
SM_CCo	3831,0.00,0.000,0,0,1373,334.35	_10V_AH	13.31,0.000
SM_GC	1.01,8.12,2.72,0.00,0.089,0.089,0.000,209,2161,1373,-7.72,-0.34,334.35,0,0,0,0,0,0,14.68,14.66,14.75	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,100216,010630	FG_AHR_10Vo	0.000
TT8_MAMPS	0.036701,0.875581	MEM	313048
HUMID	40.23	DATA_FILE_SIZE	23370,715
INTERNAL_PRESSURE	8.9691	CAP_FILE_SIZE	118825,0
TCM_TEMP	16.30	CFSIZE	1024409600,1021001728
XPDR_PINGS	23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	125.4,69.4	GPS	100216,033532,4744.145,-12224.600,12,1.0,29,16.0,0.1,0.0,9,4.2
SC_FREEKB	3906528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	366	95.31	nil	0	0	0.00
Roll_motor	66	2264	1978.73	nil	0	0	0.00
VBD_pump_during_apogee	444	2071	12172.07	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	41	12.85	nil	0	0	0.00
Iridium_during_connect	37	160	79.02	SciCon	3813	28	1447.51
Iridium_during_xfer	448	223	1322.26	nil	0	0	0.00
Transponder_ping	7	420	38.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.76
TT8	1471	27	547.34
LPSleep	754	2	22.00
TT8_Active	531	27	197.58
TT8_Sampling	1704	47	1075.72
TT8_CF8	52	65	45.56
TT8_Kalman	0	0	0.00
Analog_circuits	1166	11	170.72
GPS_charging	0	0	0.00
Compass	1072	7	106.91
RAFOS	0	0	0.00
Transponder	10	30	4.14

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
9	-0.80	-293.3	209	2171	1500	1427	0.0	0.0	0	67	0.00	0.00	-56.10	0.000	16386	0.000	0.000	209	2172	2811	2834	2789	0	0	0	0	0	0	14.70	28.83	14.71
69	-0.80	-293.3	209	2172	2834	2789	3.1	-7.3	10	111	9.57	2.70	-24.00	0.000	19204	0.366	2.264	2412	3541	3872	3909	3836	0	0	0	0	0	0	14.40	13.77	14.59
282	-0.80	-293.3	2412	3541	3909	3837	28.9	-13.2	51	289	0.00	2.42	0.00	0.000	1030	0.000	0.078	2412	2141	3873	3909	3837	0	0	0	0	0	0	14.65	14.57	14.66
350	-0.80	-293.3	2411	2137	3909	3836	37.6	-12.2	64	356	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2137	3873	3909	3837	0	0	0	0	0	0	14.79	14.80	14.80
417	-0.80	-293.3	2412	2137	3909	3837	45.3	-11.4	77	423	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2138	3872	3909	3836	0	0	0	0	0	0	14.81	14.82	14.82
544	-0.80	-293.3	2411	2137	3909	3836	60.3	-11.4	102	550	0.00	2.47	0.00	0.000	516	0.000	0.097	2410	736	3873	3909	3837	0	0	0	0	0	0	14.84	14.59	14.85
576	-0.80	-293.3	2412	737	3909	3837	64.4	-12.4	108	583	0.00	2.45	0.00	0.000	1030	0.000	0.089	2402	2130	3873	3909	3837	0	0	0	0	0	0	14.73	14.62	14.74
705	-0.80	-293.3	2401	2130	3909	3835	79.7	-12.4	133	711	0.00	2.62	0.00	0.000	260	0.000	0.129	2391	3564	3872	3908	3836	0	0	0	0	0	0	14.87	14.60	14.88
798	-0.80	-293.3	2391	3564	3909	3836	91.5	-12.3	151	805	0.12	2.45	0.00	0.000	3078	0.236	0.080	2427	2141	3872	3908	3836	0	0	0	0	0	0	14.61	14.67	14.73
927	-0.80	-293.3	2427	2137	3909	3836	105.0	-10.2	176	933	0.00	2.47	0.00	0.000	516	0.000	0.099	2428	734	3872	3909	3836	0	0	0	0	0	0	14.90	14.66	14.90
980	-0.80	-293.3	2427	734	3909	3835	110.4	-10.4	186	987	0.00	2.50	0.00	0.000	1030	0.000	0.091	2418	2158	3872	3909	3836	0	0	0	0	0	0	14.76	14.66	14.78
1110	-0.80	-293.3	2418	2158	3909	3836	124.1	-10.3	211	1116	0.00	2.55	0.00	0.000	260	0.000	0.132	2408	3558	3872	3909	3836	0	0	0	0	0	0	14.92	14.64	14.92
1184	-0.80	-293.3	2407	3558	3905	3836	132.1	-10.5	225	1191	0.00	2.42	0.00	0.000	1030	0.000	0.080	2408	2146	3872	3909	3836	0	0	0	0	0	0	14.78	14.70	14.79
1312	-0.80	-293.3	2407	2142	3909	3836	146.8	-11.7	250	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2141	3872	3909	3836	0	0	0	0	0	0	14.92	14.93	14.93
1439	-0.80	-293.3	2407	2141	3909	3836	161.4	-11.5	275	1446	0.00	2.47	0.00	0.000	516	0.000	0.098	2408	738	3870	3908	3833	0	0	0	0	0	0	14.94	14.68	14.95
1472	-0.80	-293.3	2407	738	3909	3836	165.3	-12.3	281	1479	0.10	2.47	0.00	0.000	3078	0.243	0.091	2427	2154	3872	3909	3836	0	0	0	0	0	0	14.67	14.71	14.79
1601	-0.80	-293.3	2426	2154	3907	3836	179.0	-10.3	306	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2426	2154	3872	3909	3836	0	0	0	0	0	0	14.95	14.95	14.95
1612	end dive: BOTTOM_OBSTACLE_DETECTED
state	1612	begin apogee
1615	-0.25	0.0	2427	2034	3909	3836	180.0	-9.8	308	1836	0.57	0.00	211.52	2.072	10246	0.176	0.000	2610	2034	2705	2779	2631	0	0	0	0	0	0	14.66	13.89	13.22
1837	end apogee: CONTROL_FINISHED_OK
state	1837	begin climb
1838	0.80	293.3	2610	2034	2779	2632	186.2	0.0	348	2063	1.05	2.65	213.15	2.018	10756	0.148	0.102	2936	649	1536	1614	1459	0	0	0	0	0	0	13.87	13.73	13.24
2120	0.80	293.3	2936	649	1613	1457	168.9	10.8	399	2126	0.00	2.58	0.00	0.000	1030	0.000	0.090	2936	2052	1535	1613	1457	0	0	0	0	0	0	14.23	14.11	14.24
2248	0.80	293.3	2935	2057	1613	1456	154.9	11.1	424	2254	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2057	1534	1613	1456	0	0	0	0	0	0	14.57	14.57	14.57
2375	0.80	293.3	2936	2057	1613	1455	140.4	11.5	449	2382	0.00	2.55	0.00	0.000	516	0.000	0.103	2945	653	1534	1613	1455	0	0	0	0	0	0	14.69	14.45	14.69
2423	0.80	293.3	2945	654	1613	1455	134.7	11.3	458	2430	0.00	2.50	0.00	0.000	1030	0.000	0.089	2945	2059	1534	1613	1455	0	0	0	0	0	0	14.57	14.47	14.59
2551	0.80	293.3	2945	2062	1613	1455	118.9	12.6	483	2558	0.00	2.58	0.00	0.000	260	0.000	0.125	2945	3464	1534	1613	1455	0	0	0	0	0	0	14.76	14.52	14.77
2584	0.80	293.3	2945	3464	1613	1456	114.9	12.8	489	2591	0.00	2.45	0.00	0.000	1030	0.000	0.084	2954	2061	1534	1613	1455	0	0	0	0	0	0	14.66	14.57	14.66
2713	0.80	293.3	2953	2062	1613	1455	99.5	9.9	514	2719	0.00	2.55	0.00	0.000	516	0.000	0.106	2965	640	1533	1612	1455	0	0	0	0	0	0	14.82	14.57	14.83
2746	0.80	293.3	2964	640	1613	1456	96.3	10.3	520	2752	0.00	2.50	0.00	0.000	1030	0.000	0.092	2965	2054	1534	1613	1455	0	0	0	0	0	0	14.69	14.59	14.71
2874	0.80	293.3	2964	2056	1613	1455	83.8	10.4	545	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2056	1534	1613	1455	0	0	0	0	0	0	14.85	14.85	14.85
3001	0.80	293.3	2964	2059	1613	1455	71.1	9.3	570	3007	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2059	1534	1613	1455	0	0	0	0	0	0	14.86	14.87	14.87
3128	0.80	293.3	2964	2059	1613	1455	59.1	10.0	595	3134	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2059	1534	1613	1455	0	0	0	0	0	0	14.88	14.88	14.89
3255	0.80	293.3	2964	2059	1613	1455	46.6	9.2	620	3261	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2059	1534	1613	1455	0	0	0	0	0	0	14.90	14.90	14.90
3382	0.80	293.3	2964	2059	1613	1455	34.5	10.7	645	3389	0.00	2.55	0.00	0.000	260	0.000	0.125	2965	3459	1534	1613	1455	0	0	0	0	0	0	14.89	14.63	14.89
3450	0.80	293.3	2965	3458	1613	1455	26.9	11.5	658	3457	0.00	2.45	0.00	0.000	1030	0.000	0.084	2975	2043	1534	1613	1455	0	0	0	0	0	0	14.78	14.69	14.79
3519	0.80	293.3	2975	2043	1613	1455	19.7	10.1	671	3525	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2043	1534	1613	1455	0	0	0	0	0	0	14.90	14.91	14.90
3586	0.80	293.3	2975	2043	1613	1455	13.4	9.1	684	3592	0.00	2.60	0.00	0.000	260	0.000	0.125	2973	3463	1534	1613	1455	0	0	0	0	0	0	14.90	14.65	14.90
3624	0.80	293.3	2975	3463	1613	1454	9.8	9.2	691	3631	0.12	2.45	0.00	0.000	5126	0.229	0.084	2949	2048	1533	1613	1453	0	0	0	0	0	0	14.64	14.69	14.76
3693	0.85	333.3	2948	2048	1614	1455	4.7	7.2	704	3722	0.00	2.55	19.77	0.197	8708	0.000	0.106	2959	641	1374	1450	1298	0	0	0	0	0	0	14.90	14.63	14.61
3733	end climb: SURFACE_DEPTH_REACHED
state	3733	begin surface coast
3753	end surface coast: CONTROL_FINISHED_OK
state	3753	begin surface