Glider dive log

Shilshole 09Feb16.01 * SG220 * Dive index * Mission links * Dive 9 * 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 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 23 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 26 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 300 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 15 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 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 0.0038000001 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 300 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 23 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 26 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 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 100216,020502,4744.0898,-12224.5693,102,0.9,103,16.0,0.3,133.3,8,4.9 SPEED_LIMITS 0.299,0.325

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG 4744.500,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 342.8,873,-11.1,-8.000,-15.00,4529

_SM_ANGLEo -69.5 D_GRID 180

GPS2 100216,021403,4744.0288,-12224.4854,2,0.9,4,16.0,0.3,98.4,9,6.5

Post-dive calculations and measurements:

FINISH 0.3,1.020800 _24V_AH 13.33,2.595

SM_CCo 3434,34.17,0.188,0,0,1573,320.03 _10V_AH 13.35,0.000

SM_GC 0.94,8.45,0.20,34.17,0.083,0.130,0.188,203,2262,1573,-8.00,-0.40,320.03,0,0,0,0,0,0,14.83,14.85,14.76 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,100216,005734 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.878577 MEM 312976

HUMID 39.17 DATA_FILE_SIZE 23411,669

INTERNAL_PRESSURE 8.8602 CAP_FILE_SIZE 114957,0

TCM_TEMP 16.90 CFSIZE 1024409600,1021116416

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

ALTIM_BOTTOM_PING 115.6,74.5 GPS 100216,031302,4744.842,-12224.511,17,1.1,31,16.0,0.3,73.8,8,2.5

SC_FREEKB 3906528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 382 105.67 nil 0 0 0.00

Roll_motor 72 2257 2173.44 nil 0 0 0.00

VBD_pump_during_apogee 364 2093 10175.21 nil 0 0 0.00

VBD_pump_during_surface 34 188 85.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 39 13.84 nil 0 0 0.00

Iridium_during_connect 38 160 82.19 SciCon 3478 28 1342.31

Iridium_during_xfer 327 223 975.00 nil 0 0 0.00

Transponder_ping 0 420 4.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.73

TT8 0 0 0.00

LPSleep 1664 2 48.65

TT8_Active 517 7 51.58

TT8_Sampling 1775 26 638.88

TT8_CF8 41 41 23.24

TT8_Kalman 0 0 0.00

Analog_circuits 1075 12 172.35

GPS_charging 0 0 0.00

Compass 1000 7 100.08

RAFOS 0 0 0.00

Transponder 7 30 2.88

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 -0.85 -239.4 195 2264 1615 1523 0.0 0.0 0 65 0.00 0.00 -55.92 0.000 16386 0.000 0.000 195 2264 2949 2950 2948 0 0 0 0 0 0 14.88 28.83 14.90

66 -0.86 -243.5 196 2265 2951 2948 3.6 -7.9 10 100 10.25 2.78 -18.90 0.000 19204 0.383 2.258 2491 843 3820 3838 3802 0 0 0 0 0 0 14.54 13.95 14.73

154 -0.86 -243.5 2491 844 3840 3803 17.2 -13.8 27 161 0.00 2.53 0.00 0.000 1030 0.000 0.090 2482 2243 3820 3839 3802 0 0 0 0 0 0 14.71 14.64 14.75

220 -0.86 -243.5 2482 2244 3839 3803 26.4 -12.8 40 220 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2243 3821 3839 3803 0 0 0 0 0 0 14.92 14.92 14.92

279 -0.86 -243.5 2482 2243 3839 3804 34.3 -13.1 52 280 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2243 3821 3839 3803 0 0 0 0 0 0 14.94 14.94 14.94

339 -0.86 -243.5 2487 2243 3839 3804 42.6 -14.1 64 347 0.00 2.55 0.00 0.000 516 0.000 0.099 2481 837 3820 3838 3802 0 0 0 0 0 0 14.96 14.72 14.95

360 -0.86 -243.5 2481 837 3839 3802 45.6 -14.0 68 367 0.00 2.55 0.00 0.000 1030 0.000 0.093 2471 2257 3820 3838 3802 0 0 0 0 0 0 14.80 14.72 14.81

486 -0.86 -243.5 2473 2258 3838 3802 63.2 -13.2 93 493 0.00 2.62 0.00 0.000 260 0.000 0.130 2461 3657 3820 3839 3802 0 0 0 0 0 0 15.00 14.73 15.00

527 -0.86 -243.5 2461 3657 3839 3802 68.8 -13.8 101 534 0.10 2.50 0.00 0.000 3078 0.216 0.083 2491 2251 3820 3838 3802 0 0 0 0 0 0 14.72 14.78 14.83

653 -0.86 -243.5 2492 2250 3839 3804 84.6 -12.3 126 654 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2251 3820 3838 3802 0 0 0 0 0 0 15.02 15.02 15.03

773 -0.86 -243.5 2491 2250 3839 3803 98.8 -12.0 150 780 0.00 2.65 0.00 0.000 260 0.000 0.128 2481 3662 3820 3838 3802 0 0 0 0 0 0 15.04 14.75 15.04

824 -0.86 -243.5 2481 3663 3839 3803 105.1 -12.5 160 831 0.00 2.50 0.00 0.000 1030 0.000 0.082 2481 2252 3818 3838 3799 0 0 0 0 0 0 14.86 14.79 14.88

949 -0.86 -243.5 2481 2253 3839 3800 120.3 -11.7 185 957 0.00 2.53 0.00 0.000 516 0.000 0.099 2481 836 3820 3838 3802 0 0 0 0 0 0 15.06 14.81 15.05

975 -0.86 -243.5 2481 835 3839 3804 123.3 -11.5 190 982 0.00 2.53 0.00 0.000 1030 0.000 0.092 2471 2250 3820 3838 3802 0 0 0 0 0 0 14.89 14.81 14.91

1101 -0.86 -243.5 2472 2250 3839 3802 139.4 -13.3 215 1108 0.00 2.65 0.00 0.000 260 0.000 0.132 2461 3665 3820 3838 3802 0 0 0 0 0 0 15.07 14.80 15.07

1152 -0.86 -243.5 2461 3666 3839 3802 146.4 -13.7 225 1159 0.10 2.50 0.00 0.000 3078 0.216 0.083 2492 2251 3820 3838 3802 0 0 0 0 0 0 14.78 14.85 14.89

1278 -0.86 -243.5 2492 2251 3839 3802 161.3 -11.3 250 1285 0.00 2.65 0.00 0.000 260 0.000 0.129 2481 3664 3820 3838 3802 0 0 0 0 0 0 15.07 14.80 15.07

1333 -0.86 -243.5 2482 3664 3839 3803 168.0 -11.6 261 1341 0.00 2.50 0.00 0.000 1030 0.000 0.081 2481 2243 3820 3839 3802 0 0 0 0 0 0 14.88 14.83 14.90

1399 end dive: BOTTOM_OBSTACLE_DETECTED

state 1399 begin apogee

1401 -0.25 0.0 2481 2150 3840 3802 175.4 -11.5 274 1587 0.68 0.00 180.35 2.093 10246 0.188 0.000 2691 2148 2849 2902 2797 0 0 0 0 0 0 14.79 14.05 13.36

1588 end apogee: CONTROL_FINISHED_OK

state 1588 begin climb

1589 0.86 243.5 2691 2148 2903 2798 183.1 0.0 308 1783 1.15 2.62 184.35 2.020 10756 0.145 0.102 3036 747 1877 1952 1802 0 0 0 0 0 0 14.00 13.95 13.33

1817 0.86 243.5 3037 746 1953 1803 170.2 9.1 350 1824 0.00 2.60 0.00 0.000 1030 0.000 0.087 3036 2148 1877 1952 1802 0 0 0 0 0 0 14.25 14.19 14.28

1942 0.86 243.5 3037 2147 1953 1803 158.0 10.1 375 1950 0.00 2.70 0.00 0.000 260 0.000 0.127 3036 3558 1876 1952 1801 0 0 0 0 0 0 14.69 14.40 14.69

2003 0.86 243.5 3037 3557 1953 1802 151.0 11.8 387 2011 0.00 2.55 0.00 0.000 1030 0.000 0.085 3040 2152 1877 1952 1802 0 0 0 0 0 0 14.57 14.51 14.59

2129 0.86 243.5 3039 2152 1954 1802 137.3 10.8 412 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2152 1876 1952 1801 0 0 0 0 0 0 14.86 14.86 14.86

2249 0.86 243.5 3040 2153 1953 1801 124.3 10.7 436 2250 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2152 1876 1952 1801 0 0 0 0 0 0 14.92 14.92 14.92

2369 0.86 243.5 3040 2153 1953 1801 111.3 10.5 460 2376 0.00 2.55 0.00 0.000 516 0.000 0.105 3048 744 1877 1953 1801 0 0 0 0 0 0 14.96 14.71 14.97

2415 0.86 243.5 3048 743 1953 1802 106.4 10.6 469 2422 0.00 2.50 0.00 0.000 1030 0.000 0.087 3048 2149 1876 1952 1800 0 0 0 0 0 0 14.81 14.73 14.83

2541 0.86 243.5 3048 2150 1954 1800 93.7 10.2 494 2548 0.00 2.62 0.00 0.000 260 0.000 0.125 3048 3560 1876 1952 1800 0 0 0 0 0 0 15.00 14.73 14.99

2621 0.86 243.5 3048 3554 1953 1800 84.2 12.1 510 2629 0.00 2.50 0.00 0.000 1030 0.000 0.081 3055 2142 1876 1952 1800 0 0 0 0 0 0 14.85 14.78 14.88

2747 0.86 243.5 3055 2143 1953 1801 70.1 11.5 535 2754 0.00 2.53 0.00 0.000 516 0.000 0.107 3063 742 1876 1952 1800 0 0 0 0 0 0 15.02 14.77 15.02

2808 0.86 243.5 3063 742 1953 1802 63.2 11.5 547 2815 0.00 2.50 0.00 0.000 1030 0.000 0.089 3062 2152 1875 1951 1800 0 0 0 0 0 0 14.85 14.78 14.86

2934 0.86 243.5 3063 2153 1953 1800 49.2 10.6 572 2934 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2152 1876 1952 1800 0 0 0 0 0 0 15.04 15.04 15.03

3054 0.86 243.5 3063 2153 1953 1800 36.6 10.0 596 3054 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2150 1876 1952 1800 0 0 0 0 0 0 15.04 15.04 15.04

3114 0.86 243.5 3063 2152 1953 1800 30.8 9.6 608 3114 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2153 1876 1952 1800 0 0 0 0 0 0 15.04 15.04 15.04

3174 0.86 243.5 3063 2153 1953 1800 25.0 9.8 620 3181 0.00 2.55 0.00 0.000 516 0.000 0.106 3072 745 1876 1952 1800 0 0 0 0 0 0 15.04 14.78 15.04

3250 0.86 243.5 3073 745 1953 1801 17.3 10.1 635 3257 0.00 2.47 0.00 0.000 1030 0.000 0.087 3072 2146 1876 1953 1800 0 0 0 0 0 0 14.87 14.81 14.90

3315 0.86 243.5 3072 2146 1953 1801 10.7 9.5 648 3322 0.00 2.65 0.00 0.000 260 0.000 0.130 3072 3561 1876 1952 1800 0 0 0 0 0 0 15.04 14.79 15.04

3371 0.86 243.5 3072 3561 1953 1801 4.4 11.2 659 3378 0.00 2.50 0.00 0.000 1030 0.000 0.085 3081 2153 1876 1952 1800 0 0 0 0 0 0 14.89 14.84 14.92

3401 end climb: SURFACE_DEPTH_REACHED

state 3401 begin surface coast

3421 end surface coast: CONTROL_FINISHED_OK

state 3421 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	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	23	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	26	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	300	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	15	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	100216,020502,4744.0898,-12224.5693,102,0.9,103,16.0,0.3,133.3,8,4.9	SPEED_LIMITS	0.299,0.325
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	4744.500,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	342.8,873,-11.1,-8.000,-15.00,4529
_SM_ANGLEo	-69.5	D_GRID	180
GPS2	100216,021403,4744.0288,-12224.4854,2,0.9,4,16.0,0.3,98.4,9,6.5

FINISH	0.3,1.020800	_24V_AH	13.33,2.595
SM_CCo	3434,34.17,0.188,0,0,1573,320.03	_10V_AH	13.35,0.000
SM_GC	0.94,8.45,0.20,34.17,0.083,0.130,0.188,203,2262,1573,-8.00,-0.40,320.03,0,0,0,0,0,0,14.83,14.85,14.76	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,100216,005734	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.878577	MEM	312976
HUMID	39.17	DATA_FILE_SIZE	23411,669
INTERNAL_PRESSURE	8.8602	CAP_FILE_SIZE	114957,0
TCM_TEMP	16.90	CFSIZE	1024409600,1021116416
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	115.6,74.5	GPS	100216,031302,4744.842,-12224.511,17,1.1,31,16.0,0.3,73.8,8,2.5
SC_FREEKB	3906528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	382	105.67	nil	0	0	0.00
Roll_motor	72	2257	2173.44	nil	0	0	0.00
VBD_pump_during_apogee	364	2093	10175.21	nil	0	0	0.00
VBD_pump_during_surface	34	188	85.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	39	13.84	nil	0	0	0.00
Iridium_during_connect	38	160	82.19	SciCon	3478	28	1342.31
Iridium_during_xfer	327	223	975.00	nil	0	0	0.00
Transponder_ping	0	420	4.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.73
TT8	0	0	0.00
LPSleep	1664	2	48.65
TT8_Active	517	7	51.58
TT8_Sampling	1775	26	638.88
TT8_CF8	41	41	23.24
TT8_Kalman	0	0	0.00
Analog_circuits	1075	12	172.35
GPS_charging	0	0	0.00
Compass	1000	7	100.08
RAFOS	0	0	0.00
Transponder	7	30	2.88

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	-0.85	-239.4	195	2264	1615	1523	0.0	0.0	0	65	0.00	0.00	-55.92	0.000	16386	0.000	0.000	195	2264	2949	2950	2948	0	0	0	0	0	0	14.88	28.83	14.90
66	-0.86	-243.5	196	2265	2951	2948	3.6	-7.9	10	100	10.25	2.78	-18.90	0.000	19204	0.383	2.258	2491	843	3820	3838	3802	0	0	0	0	0	0	14.54	13.95	14.73
154	-0.86	-243.5	2491	844	3840	3803	17.2	-13.8	27	161	0.00	2.53	0.00	0.000	1030	0.000	0.090	2482	2243	3820	3839	3802	0	0	0	0	0	0	14.71	14.64	14.75
220	-0.86	-243.5	2482	2244	3839	3803	26.4	-12.8	40	220	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2243	3821	3839	3803	0	0	0	0	0	0	14.92	14.92	14.92
279	-0.86	-243.5	2482	2243	3839	3804	34.3	-13.1	52	280	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2243	3821	3839	3803	0	0	0	0	0	0	14.94	14.94	14.94
339	-0.86	-243.5	2487	2243	3839	3804	42.6	-14.1	64	347	0.00	2.55	0.00	0.000	516	0.000	0.099	2481	837	3820	3838	3802	0	0	0	0	0	0	14.96	14.72	14.95
360	-0.86	-243.5	2481	837	3839	3802	45.6	-14.0	68	367	0.00	2.55	0.00	0.000	1030	0.000	0.093	2471	2257	3820	3838	3802	0	0	0	0	0	0	14.80	14.72	14.81
486	-0.86	-243.5	2473	2258	3838	3802	63.2	-13.2	93	493	0.00	2.62	0.00	0.000	260	0.000	0.130	2461	3657	3820	3839	3802	0	0	0	0	0	0	15.00	14.73	15.00
527	-0.86	-243.5	2461	3657	3839	3802	68.8	-13.8	101	534	0.10	2.50	0.00	0.000	3078	0.216	0.083	2491	2251	3820	3838	3802	0	0	0	0	0	0	14.72	14.78	14.83
653	-0.86	-243.5	2492	2250	3839	3804	84.6	-12.3	126	654	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2251	3820	3838	3802	0	0	0	0	0	0	15.02	15.02	15.03
773	-0.86	-243.5	2491	2250	3839	3803	98.8	-12.0	150	780	0.00	2.65	0.00	0.000	260	0.000	0.128	2481	3662	3820	3838	3802	0	0	0	0	0	0	15.04	14.75	15.04
824	-0.86	-243.5	2481	3663	3839	3803	105.1	-12.5	160	831	0.00	2.50	0.00	0.000	1030	0.000	0.082	2481	2252	3818	3838	3799	0	0	0	0	0	0	14.86	14.79	14.88
949	-0.86	-243.5	2481	2253	3839	3800	120.3	-11.7	185	957	0.00	2.53	0.00	0.000	516	0.000	0.099	2481	836	3820	3838	3802	0	0	0	0	0	0	15.06	14.81	15.05
975	-0.86	-243.5	2481	835	3839	3804	123.3	-11.5	190	982	0.00	2.53	0.00	0.000	1030	0.000	0.092	2471	2250	3820	3838	3802	0	0	0	0	0	0	14.89	14.81	14.91
1101	-0.86	-243.5	2472	2250	3839	3802	139.4	-13.3	215	1108	0.00	2.65	0.00	0.000	260	0.000	0.132	2461	3665	3820	3838	3802	0	0	0	0	0	0	15.07	14.80	15.07
1152	-0.86	-243.5	2461	3666	3839	3802	146.4	-13.7	225	1159	0.10	2.50	0.00	0.000	3078	0.216	0.083	2492	2251	3820	3838	3802	0	0	0	0	0	0	14.78	14.85	14.89
1278	-0.86	-243.5	2492	2251	3839	3802	161.3	-11.3	250	1285	0.00	2.65	0.00	0.000	260	0.000	0.129	2481	3664	3820	3838	3802	0	0	0	0	0	0	15.07	14.80	15.07
1333	-0.86	-243.5	2482	3664	3839	3803	168.0	-11.6	261	1341	0.00	2.50	0.00	0.000	1030	0.000	0.081	2481	2243	3820	3839	3802	0	0	0	0	0	0	14.88	14.83	14.90
1399	end dive: BOTTOM_OBSTACLE_DETECTED
state	1399	begin apogee
1401	-0.25	0.0	2481	2150	3840	3802	175.4	-11.5	274	1587	0.68	0.00	180.35	2.093	10246	0.188	0.000	2691	2148	2849	2902	2797	0	0	0	0	0	0	14.79	14.05	13.36
1588	end apogee: CONTROL_FINISHED_OK
state	1588	begin climb
1589	0.86	243.5	2691	2148	2903	2798	183.1	0.0	308	1783	1.15	2.62	184.35	2.020	10756	0.145	0.102	3036	747	1877	1952	1802	0	0	0	0	0	0	14.00	13.95	13.33
1817	0.86	243.5	3037	746	1953	1803	170.2	9.1	350	1824	0.00	2.60	0.00	0.000	1030	0.000	0.087	3036	2148	1877	1952	1802	0	0	0	0	0	0	14.25	14.19	14.28
1942	0.86	243.5	3037	2147	1953	1803	158.0	10.1	375	1950	0.00	2.70	0.00	0.000	260	0.000	0.127	3036	3558	1876	1952	1801	0	0	0	0	0	0	14.69	14.40	14.69
2003	0.86	243.5	3037	3557	1953	1802	151.0	11.8	387	2011	0.00	2.55	0.00	0.000	1030	0.000	0.085	3040	2152	1877	1952	1802	0	0	0	0	0	0	14.57	14.51	14.59
2129	0.86	243.5	3039	2152	1954	1802	137.3	10.8	412	2130	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2152	1876	1952	1801	0	0	0	0	0	0	14.86	14.86	14.86
2249	0.86	243.5	3040	2153	1953	1801	124.3	10.7	436	2250	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2152	1876	1952	1801	0	0	0	0	0	0	14.92	14.92	14.92
2369	0.86	243.5	3040	2153	1953	1801	111.3	10.5	460	2376	0.00	2.55	0.00	0.000	516	0.000	0.105	3048	744	1877	1953	1801	0	0	0	0	0	0	14.96	14.71	14.97
2415	0.86	243.5	3048	743	1953	1802	106.4	10.6	469	2422	0.00	2.50	0.00	0.000	1030	0.000	0.087	3048	2149	1876	1952	1800	0	0	0	0	0	0	14.81	14.73	14.83
2541	0.86	243.5	3048	2150	1954	1800	93.7	10.2	494	2548	0.00	2.62	0.00	0.000	260	0.000	0.125	3048	3560	1876	1952	1800	0	0	0	0	0	0	15.00	14.73	14.99
2621	0.86	243.5	3048	3554	1953	1800	84.2	12.1	510	2629	0.00	2.50	0.00	0.000	1030	0.000	0.081	3055	2142	1876	1952	1800	0	0	0	0	0	0	14.85	14.78	14.88
2747	0.86	243.5	3055	2143	1953	1801	70.1	11.5	535	2754	0.00	2.53	0.00	0.000	516	0.000	0.107	3063	742	1876	1952	1800	0	0	0	0	0	0	15.02	14.77	15.02
2808	0.86	243.5	3063	742	1953	1802	63.2	11.5	547	2815	0.00	2.50	0.00	0.000	1030	0.000	0.089	3062	2152	1875	1951	1800	0	0	0	0	0	0	14.85	14.78	14.86
2934	0.86	243.5	3063	2153	1953	1800	49.2	10.6	572	2934	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2152	1876	1952	1800	0	0	0	0	0	0	15.04	15.04	15.03
3054	0.86	243.5	3063	2153	1953	1800	36.6	10.0	596	3054	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2150	1876	1952	1800	0	0	0	0	0	0	15.04	15.04	15.04
3114	0.86	243.5	3063	2152	1953	1800	30.8	9.6	608	3114	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2153	1876	1952	1800	0	0	0	0	0	0	15.04	15.04	15.04
3174	0.86	243.5	3063	2153	1953	1800	25.0	9.8	620	3181	0.00	2.55	0.00	0.000	516	0.000	0.106	3072	745	1876	1952	1800	0	0	0	0	0	0	15.04	14.78	15.04
3250	0.86	243.5	3073	745	1953	1801	17.3	10.1	635	3257	0.00	2.47	0.00	0.000	1030	0.000	0.087	3072	2146	1876	1953	1800	0	0	0	0	0	0	14.87	14.81	14.90
3315	0.86	243.5	3072	2146	1953	1801	10.7	9.5	648	3322	0.00	2.65	0.00	0.000	260	0.000	0.130	3072	3561	1876	1952	1800	0	0	0	0	0	0	15.04	14.79	15.04
3371	0.86	243.5	3072	3561	1953	1801	4.4	11.2	659	3378	0.00	2.50	0.00	0.000	1030	0.000	0.085	3081	2153	1876	1952	1800	0	0	0	0	0	0	14.89	14.84	14.92
3401	end climb: SURFACE_DEPTH_REACHED
state	3401	begin surface coast
3421	end surface coast: CONTROL_FINISHED_OK
state	3421	begin surface