Glider dive log

Shilshole 09Feb16.01 * SG219 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 HD_C 1.6100001e-05 C_ROLL_DIVE 2050 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

DIVE 6 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 20 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 23 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 -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 350 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 200 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3914 MINV_24V 10 SIM_W 0

RELAUNCH 1 C_PITCH 2690 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044063777

MAX_BUOY 150 PITCH_CNV 0.0031300001 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063933869

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4772711e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9384435e-06

SPEED_FACTOR 1 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_G -9.8920727

RHO 1.023 PITCH_TIMEOUT 18 PRESSURE_YINT -148.877 SEABIRD_C_H 1.0856217

MASS 53197 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.0001078618 SEABIRD_C_I -0.0019095645

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.0001978568

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 1 ROLL_MIN 251 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3825 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 2 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 350 D_TGT 180 PITCH_AD_RATE 175 SM_CC 310

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.0031300001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STOP_T 12021620

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 20 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3914 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 110 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 64 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001078618 TGT_DEFAULT_LON -12218

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

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_BOOST 0

CALL_WAIT 45 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 75

CAPMAXSIZE 100000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 10

CF8_MAXERRORS 2 ID 219 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.25 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 97 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.023 T_TURN 360

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2690 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 UNCOM_BLEED 60

C_ROLL_DIVE 2050 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2704 MASS 53197 ROLL_DEG 40 USE_BATHY -6

DBDW 0 MASS_COMP 0 ROLL_MAX 3825 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_MIN 251 VBD_CNV -0.25119999

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 20 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 10 R_STBD_OVSHOOT 23 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 6 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_G -9.8920727 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 100 N_DIVES 25 SEABIRD_C_H 1.0856217 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0019095645 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.0001978568 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0044063777 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_H 0.00063933869 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.4772711e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.9384435e-06

Pre-dive calculations and measurements:

GPS1 090216,223615,4743.9951,-12224.6201,3,1.1,8,16.0,0.4,147.6,8,6.7 SPEED_LIMITS 0.139,0.237

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG 4744.500,-12224.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.86 MHEAD_RNG_PITCHd_Wd 348.4,1156,-14.1,-8.000,-18.62,2735

_SM_ANGLEo -68.6 D_GRID 174

GPS2 090216,224529,4743.8774,-12224.5703,3,1.1,5,16.0,0.5,158.4,8,10.0

Post-dive calculations and measurements:

FINISH -0.1,1.020173 _24V_AH 13.19,2.546

SM_CCo 3913,53.85,0.195,0,0,1467,310.23 _10V_AH 13.50,0.000

SM_GC 0.90,8.27,2.53,53.85,0.099,0.087,0.195,210,2063,1467,-7.71,-0.40,310.23,0,0,0,0,0,0,14.72,14.71,14.61 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,090216,212705 FG_AHR_10Vo 0.000

TT8_MAMPS 0.036701,0.477113 MEM 313040

HUMID 40.94 DATA_FILE_SIZE 26687,746

INTERNAL_PRESSURE 8.98864 CAP_FILE_SIZE 122813,0

TCM_TEMP 15.20 CFSIZE 1024409600,1021345792

XPDR_PINGS 18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 110.3,79.0 GPS 090216,235331,4743.916,-12224.718,43,1.1,43,16.0,0.4,167.9,8,10.0

SC_FREEKB 3907872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 358 94.09 nil 0 0 0.00

Roll_motor 85 2242 2532.47 nil 0 0 0.00

VBD_pump_during_apogee 241 2200 7006.84 nil 0 0 0.00

VBD_pump_during_surface 53 195 138.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 41 13.02 nil 0 0 0.00

Iridium_during_connect 35 160 73.92 SciCon 3951 29 1548.77

Iridium_during_xfer 336 223 989.11 nil 0 0 0.00

Transponder_ping 5 420 27.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.91

TT8 1630 27 615.18

LPSleep 789 2 23.34

TT8_Active 426 27 160.87

TT8_Sampling 1635 47 1047.13

TT8_CF8 51 65 45.44

TT8_Kalman 0 0 0.00

Analog_circuits 1042 11 154.79

GPS_charging 0 0 0.00

Compass 1123 7 113.56

RAFOS 0 0 0.00

Transponder 5 30 2.29

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8 -0.89 -146.6 214 2066 1493 1431 0.0 0.0 0 72 0.00 0.00 -61.00 0.000 16386 0.000 0.000 214 2067 2911 2934 2889 0 0 0 0 0 0 14.74 28.83 14.75

74 -0.89 -146.6 214 2067 2934 2890 3.3 -8.3 11 99 9.30 2.80 -8.80 0.000 18948 0.358 2.243 2397 643 3289 3327 3251 0 0 0 0 0 0 14.44 13.83 14.63

184 -0.89 -146.6 2397 643 3325 3252 20.3 -14.6 32 191 0.00 2.47 0.00 0.000 1030 0.000 0.086 2388 2048 3289 3327 3252 0 0 0 0 0 0 14.64 14.54 14.65

253 -0.89 -146.6 2388 2052 3327 3252 29.9 -12.8 45 259 0.00 2.58 0.00 0.000 260 0.000 0.121 2377 3462 3289 3327 3252 0 0 0 0 0 0 14.78 14.55 14.80

311 -0.89 -146.6 2377 3463 3327 3253 37.9 -14.4 56 317 0.00 2.45 0.00 0.000 1030 0.000 0.079 2377 2048 3289 3327 3252 0 0 0 0 0 0 14.70 14.62 14.71

379 -0.89 -146.6 2377 2046 3327 3250 47.1 -12.4 69 385 0.00 2.60 0.00 0.000 260 0.000 0.125 2366 3461 3289 3327 3252 0 0 0 0 0 0 14.82 14.57 14.83

407 -0.89 -146.6 2366 3460 3327 3252 50.7 -13.0 74 414 0.12 2.45 0.00 0.000 3078 0.265 0.081 2400 2045 3290 3328 3253 0 0 0 0 0 0 14.54 14.63 14.69

535 -0.89 -146.6 2399 2042 3328 3252 65.9 -11.7 99 542 0.00 2.60 0.00 0.000 260 0.000 0.123 2390 3463 3289 3327 3252 0 0 0 0 0 0 14.87 14.62 14.88

568 -0.89 -146.6 2390 3463 3327 3252 70.0 -12.6 105 575 0.00 2.45 0.00 0.000 1030 0.000 0.079 2390 2041 3289 3327 3251 0 0 0 0 0 0 14.73 14.64 14.74

696 -0.89 -146.6 2390 2038 3327 3252 84.0 -10.5 130 703 0.00 2.47 0.00 0.000 516 0.000 0.098 2397 639 3290 3328 3252 0 0 0 0 0 0 14.89 14.66 14.90

749 -0.89 -146.6 2391 639 3327 3252 89.7 -11.5 140 756 0.00 2.47 0.00 0.000 1030 0.000 0.086 2379 2054 3289 3327 3252 0 0 0 0 0 0 14.74 14.62 14.76

877 -0.89 -146.6 2379 2054 3327 3252 104.6 -12.2 165 884 0.00 2.55 0.00 0.000 260 0.000 0.122 2369 3466 3289 3327 3251 0 0 0 0 0 0 14.92 14.65 14.92

910 -0.89 -146.6 2370 3466 3327 3252 108.7 -12.7 171 918 0.12 2.45 0.00 0.000 3078 0.264 0.080 2402 2038 3289 3327 3252 0 0 0 0 0 0 14.62 14.69 14.76

1041 -0.89 -146.6 2402 2037 3327 3252 124.2 -10.0 196 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2037 3289 3327 3252 0 0 0 0 0 0 14.93 14.95 14.94

1168 -0.89 -146.6 2402 2035 3327 3252 137.9 -10.8 221 1174 0.00 2.58 0.00 0.000 260 0.000 0.121 2393 3458 3289 3327 3251 0 0 0 0 0 0 14.94 14.69 14.95

1236 -0.89 -146.6 2393 3458 3327 3252 145.2 -11.3 234 1243 0.00 2.42 0.00 0.000 1030 0.000 0.078 2393 2038 3289 3327 3251 0 0 0 0 0 0 14.82 14.73 14.83

1364 -0.89 -146.6 2392 2042 3327 3251 159.6 -11.4 259 1371 0.00 2.58 0.00 0.000 260 0.000 0.122 2383 3461 3289 3327 3251 0 0 0 0 0 0 14.95 14.69 14.95

1413 -0.89 -146.6 2382 3460 3327 3252 164.9 -10.8 268 1419 0.00 2.42 0.00 0.000 1030 0.000 0.080 2383 2043 3288 3325 3252 0 0 0 0 0 0 14.82 14.73 14.83

1495 end dive: TARGET_DEPTH_EXCEEDED

state 1495 begin apogee

1498 -0.25 0.0 2383 2040 3326 3252 174.0 -10.7 284 1609 0.73 0.00 106.18 2.173 10246 0.201 0.000 2603 2037 2703 2773 2633 0 0 0 0 0 0 14.67 13.98 13.28

1610 end apogee: CONTROL_FINISHED_OK

state 1611 begin climb

1612 0.89 146.6 2602 2037 2773 2637 177.9 0.0 304 1726 1.15 0.00 108.72 2.200 10502 0.143 0.000 2954 2037 2120 2204 2036 0 0 0 0 0 0 13.95 13.87 13.19

1847 0.89 146.6 2954 2037 2204 2039 162.7 8.4 348 1854 0.00 2.67 0.00 0.000 260 0.000 0.123 2954 3462 2122 2205 2039 0 0 0 0 0 0 14.54 14.28 14.54

1890 0.89 146.6 2954 3462 2204 2039 158.4 9.9 356 1897 0.00 2.50 0.00 0.000 1030 0.000 0.082 2965 2050 2121 2204 2039 0 0 0 0 0 0 14.45 14.37 14.47

2019 0.89 146.6 2965 2050 2204 2039 146.2 9.6 381 2025 0.00 2.55 0.00 0.000 516 0.000 0.105 2976 639 2121 2204 2039 0 0 0 0 0 0 14.71 14.48 14.72

2067 0.89 146.6 2976 639 2203 2039 141.8 8.7 390 2074 0.00 2.53 0.00 0.000 1030 0.000 0.090 2976 2059 2121 2204 2039 0 0 0 0 0 0 14.61 14.50 14.62

2195 0.89 146.6 2975 2061 2204 2039 130.1 8.9 415 2202 0.00 2.58 0.00 0.000 260 0.000 0.127 2975 3461 2121 2204 2039 0 0 0 0 0 0 14.81 14.53 14.81

2303 0.89 146.6 2975 3462 2204 2039 119.7 9.4 436 2310 0.00 2.45 0.00 0.000 1030 0.000 0.081 2986 2046 2121 2204 2039 0 0 0 0 0 0 14.72 14.63 14.73

2431 0.89 146.6 2987 2046 2204 2039 107.4 9.5 461 2438 0.00 2.50 0.00 0.000 516 0.000 0.105 2997 643 2121 2204 2039 0 0 0 0 0 0 14.87 14.64 14.88

2484 0.89 146.6 2997 643 2204 2039 102.3 9.8 471 2491 0.00 2.47 0.00 0.000 1030 0.000 0.089 2998 2054 2121 2204 2039 0 0 0 0 0 0 14.78 14.65 14.79

2612 0.89 146.6 2997 2054 2204 2039 91.0 8.4 496 2619 0.00 2.55 0.00 0.000 260 0.000 0.125 2998 3459 2121 2204 2039 0 0 0 0 0 0 14.90 14.66 14.90

2660 0.89 146.6 2997 3459 2204 2039 86.5 10.1 505 2668 0.12 2.45 0.00 0.000 5126 0.253 0.083 2974 2044 2121 2204 2039 0 0 0 0 0 0 14.59 14.66 14.72

2789 0.89 146.6 2973 2044 2204 2039 74.0 9.4 530 2796 0.00 2.50 0.00 0.000 516 0.000 0.103 2983 637 2121 2203 2039 0 0 0 0 0 0 14.91 14.68 14.91

3002 0.89 146.6 2983 637 2204 2040 55.0 9.6 572 3009 0.00 2.47 0.00 0.000 1030 0.000 0.087 2984 2055 2121 2204 2038 0 0 0 0 0 0 14.81 14.71 14.82

3130 0.89 146.6 2983 2057 2204 2039 43.1 9.6 597 3137 0.00 2.55 0.00 0.000 260 0.000 0.124 2983 3466 2122 2204 2040 0 0 0 0 0 0 14.92 14.66 14.92

3288 0.89 146.6 2983 3466 2203 2042 27.3 9.5 628 3295 0.00 2.45 0.00 0.000 1030 0.000 0.080 2995 2040 2122 2204 2040 0 0 0 0 0 0 14.82 14.73 14.83

3357 0.89 146.6 2995 2040 2213 2039 20.5 9.6 641 3363 0.00 2.60 0.00 0.000 260 0.000 0.124 2995 3464 2121 2203 2040 0 0 0 0 0 0 14.92 14.68 14.93

3439 0.89 146.6 2994 3464 2203 2039 12.1 10.0 657 3447 0.10 2.45 0.00 0.000 5126 0.259 0.081 2977 2037 2121 2204 2039 0 0 0 0 0 0 14.65 14.71 14.78

3509 0.95 200.7 2977 2037 2204 2039 7.3 6.0 670 3543 0.00 2.45 26.55 0.205 8708 0.000 0.105 2987 644 1902 1984 1821 0 0 0 0 0 0 14.93 14.65 14.62

3804 end climb: SURFACE_DEPTH_REACHED

state 3804 begin surface coast

3895 end surface coast: CONTROL_FINISHED_OK

state 3895 begin surface

ID	219	HD_C	1.6100001e-05	C_ROLL_DIVE	2050	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
DIVE	6	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	20	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	23	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	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	350	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	200	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3914	MINV_24V	10	SIM_W	0
RELAUNCH	1	C_PITCH	2690	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044063777
MAX_BUOY	150	PITCH_CNV	0.0031300001	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063933869
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4772711e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9384435e-06
SPEED_FACTOR	1	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8920727
RHO	1.023	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.877	SEABIRD_C_H	1.0856217
MASS	53197	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.0001078618	SEABIRD_C_I	-0.0019095645
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.0001978568
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	1	ROLL_MIN	251	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3825	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	090216,223615,4743.9951,-12224.6201,3,1.1,8,16.0,0.4,147.6,8,6.7	SPEED_LIMITS	0.139,0.237
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	4744.500,-12224.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.86	MHEAD_RNG_PITCHd_Wd	348.4,1156,-14.1,-8.000,-18.62,2735
_SM_ANGLEo	-68.6	D_GRID	174
GPS2	090216,224529,4743.8774,-12224.5703,3,1.1,5,16.0,0.5,158.4,8,10.0

FINISH	-0.1,1.020173	_24V_AH	13.19,2.546
SM_CCo	3913,53.85,0.195,0,0,1467,310.23	_10V_AH	13.50,0.000
SM_GC	0.90,8.27,2.53,53.85,0.099,0.087,0.195,210,2063,1467,-7.71,-0.40,310.23,0,0,0,0,0,0,14.72,14.71,14.61	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,090216,212705	FG_AHR_10Vo	0.000
TT8_MAMPS	0.036701,0.477113	MEM	313040
HUMID	40.94	DATA_FILE_SIZE	26687,746
INTERNAL_PRESSURE	8.98864	CAP_FILE_SIZE	122813,0
TCM_TEMP	15.20	CFSIZE	1024409600,1021345792
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	110.3,79.0	GPS	090216,235331,4743.916,-12224.718,43,1.1,43,16.0,0.4,167.9,8,10.0
SC_FREEKB	3907872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	358	94.09	nil	0	0	0.00
Roll_motor	85	2242	2532.47	nil	0	0	0.00
VBD_pump_during_apogee	241	2200	7006.84	nil	0	0	0.00
VBD_pump_during_surface	53	195	138.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	41	13.02	nil	0	0	0.00
Iridium_during_connect	35	160	73.92	SciCon	3951	29	1548.77
Iridium_during_xfer	336	223	989.11	nil	0	0	0.00
Transponder_ping	5	420	27.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.91
TT8	1630	27	615.18
LPSleep	789	2	23.34
TT8_Active	426	27	160.87
TT8_Sampling	1635	47	1047.13
TT8_CF8	51	65	45.44
TT8_Kalman	0	0	0.00
Analog_circuits	1042	11	154.79
GPS_charging	0	0	0.00
Compass	1123	7	113.56
RAFOS	0	0	0.00
Transponder	5	30	2.29

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8	-0.89	-146.6	214	2066	1493	1431	0.0	0.0	0	72	0.00	0.00	-61.00	0.000	16386	0.000	0.000	214	2067	2911	2934	2889	0	0	0	0	0	0	14.74	28.83	14.75
74	-0.89	-146.6	214	2067	2934	2890	3.3	-8.3	11	99	9.30	2.80	-8.80	0.000	18948	0.358	2.243	2397	643	3289	3327	3251	0	0	0	0	0	0	14.44	13.83	14.63
184	-0.89	-146.6	2397	643	3325	3252	20.3	-14.6	32	191	0.00	2.47	0.00	0.000	1030	0.000	0.086	2388	2048	3289	3327	3252	0	0	0	0	0	0	14.64	14.54	14.65
253	-0.89	-146.6	2388	2052	3327	3252	29.9	-12.8	45	259	0.00	2.58	0.00	0.000	260	0.000	0.121	2377	3462	3289	3327	3252	0	0	0	0	0	0	14.78	14.55	14.80
311	-0.89	-146.6	2377	3463	3327	3253	37.9	-14.4	56	317	0.00	2.45	0.00	0.000	1030	0.000	0.079	2377	2048	3289	3327	3252	0	0	0	0	0	0	14.70	14.62	14.71
379	-0.89	-146.6	2377	2046	3327	3250	47.1	-12.4	69	385	0.00	2.60	0.00	0.000	260	0.000	0.125	2366	3461	3289	3327	3252	0	0	0	0	0	0	14.82	14.57	14.83
407	-0.89	-146.6	2366	3460	3327	3252	50.7	-13.0	74	414	0.12	2.45	0.00	0.000	3078	0.265	0.081	2400	2045	3290	3328	3253	0	0	0	0	0	0	14.54	14.63	14.69
535	-0.89	-146.6	2399	2042	3328	3252	65.9	-11.7	99	542	0.00	2.60	0.00	0.000	260	0.000	0.123	2390	3463	3289	3327	3252	0	0	0	0	0	0	14.87	14.62	14.88
568	-0.89	-146.6	2390	3463	3327	3252	70.0	-12.6	105	575	0.00	2.45	0.00	0.000	1030	0.000	0.079	2390	2041	3289	3327	3251	0	0	0	0	0	0	14.73	14.64	14.74
696	-0.89	-146.6	2390	2038	3327	3252	84.0	-10.5	130	703	0.00	2.47	0.00	0.000	516	0.000	0.098	2397	639	3290	3328	3252	0	0	0	0	0	0	14.89	14.66	14.90
749	-0.89	-146.6	2391	639	3327	3252	89.7	-11.5	140	756	0.00	2.47	0.00	0.000	1030	0.000	0.086	2379	2054	3289	3327	3252	0	0	0	0	0	0	14.74	14.62	14.76
877	-0.89	-146.6	2379	2054	3327	3252	104.6	-12.2	165	884	0.00	2.55	0.00	0.000	260	0.000	0.122	2369	3466	3289	3327	3251	0	0	0	0	0	0	14.92	14.65	14.92
910	-0.89	-146.6	2370	3466	3327	3252	108.7	-12.7	171	918	0.12	2.45	0.00	0.000	3078	0.264	0.080	2402	2038	3289	3327	3252	0	0	0	0	0	0	14.62	14.69	14.76
1041	-0.89	-146.6	2402	2037	3327	3252	124.2	-10.0	196	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2037	3289	3327	3252	0	0	0	0	0	0	14.93	14.95	14.94
1168	-0.89	-146.6	2402	2035	3327	3252	137.9	-10.8	221	1174	0.00	2.58	0.00	0.000	260	0.000	0.121	2393	3458	3289	3327	3251	0	0	0	0	0	0	14.94	14.69	14.95
1236	-0.89	-146.6	2393	3458	3327	3252	145.2	-11.3	234	1243	0.00	2.42	0.00	0.000	1030	0.000	0.078	2393	2038	3289	3327	3251	0	0	0	0	0	0	14.82	14.73	14.83
1364	-0.89	-146.6	2392	2042	3327	3251	159.6	-11.4	259	1371	0.00	2.58	0.00	0.000	260	0.000	0.122	2383	3461	3289	3327	3251	0	0	0	0	0	0	14.95	14.69	14.95
1413	-0.89	-146.6	2382	3460	3327	3252	164.9	-10.8	268	1419	0.00	2.42	0.00	0.000	1030	0.000	0.080	2383	2043	3288	3325	3252	0	0	0	0	0	0	14.82	14.73	14.83
1495	end dive: TARGET_DEPTH_EXCEEDED
state	1495	begin apogee
1498	-0.25	0.0	2383	2040	3326	3252	174.0	-10.7	284	1609	0.73	0.00	106.18	2.173	10246	0.201	0.000	2603	2037	2703	2773	2633	0	0	0	0	0	0	14.67	13.98	13.28
1610	end apogee: CONTROL_FINISHED_OK
state	1611	begin climb
1612	0.89	146.6	2602	2037	2773	2637	177.9	0.0	304	1726	1.15	0.00	108.72	2.200	10502	0.143	0.000	2954	2037	2120	2204	2036	0	0	0	0	0	0	13.95	13.87	13.19
1847	0.89	146.6	2954	2037	2204	2039	162.7	8.4	348	1854	0.00	2.67	0.00	0.000	260	0.000	0.123	2954	3462	2122	2205	2039	0	0	0	0	0	0	14.54	14.28	14.54
1890	0.89	146.6	2954	3462	2204	2039	158.4	9.9	356	1897	0.00	2.50	0.00	0.000	1030	0.000	0.082	2965	2050	2121	2204	2039	0	0	0	0	0	0	14.45	14.37	14.47
2019	0.89	146.6	2965	2050	2204	2039	146.2	9.6	381	2025	0.00	2.55	0.00	0.000	516	0.000	0.105	2976	639	2121	2204	2039	0	0	0	0	0	0	14.71	14.48	14.72
2067	0.89	146.6	2976	639	2203	2039	141.8	8.7	390	2074	0.00	2.53	0.00	0.000	1030	0.000	0.090	2976	2059	2121	2204	2039	0	0	0	0	0	0	14.61	14.50	14.62
2195	0.89	146.6	2975	2061	2204	2039	130.1	8.9	415	2202	0.00	2.58	0.00	0.000	260	0.000	0.127	2975	3461	2121	2204	2039	0	0	0	0	0	0	14.81	14.53	14.81
2303	0.89	146.6	2975	3462	2204	2039	119.7	9.4	436	2310	0.00	2.45	0.00	0.000	1030	0.000	0.081	2986	2046	2121	2204	2039	0	0	0	0	0	0	14.72	14.63	14.73
2431	0.89	146.6	2987	2046	2204	2039	107.4	9.5	461	2438	0.00	2.50	0.00	0.000	516	0.000	0.105	2997	643	2121	2204	2039	0	0	0	0	0	0	14.87	14.64	14.88
2484	0.89	146.6	2997	643	2204	2039	102.3	9.8	471	2491	0.00	2.47	0.00	0.000	1030	0.000	0.089	2998	2054	2121	2204	2039	0	0	0	0	0	0	14.78	14.65	14.79
2612	0.89	146.6	2997	2054	2204	2039	91.0	8.4	496	2619	0.00	2.55	0.00	0.000	260	0.000	0.125	2998	3459	2121	2204	2039	0	0	0	0	0	0	14.90	14.66	14.90
2660	0.89	146.6	2997	3459	2204	2039	86.5	10.1	505	2668	0.12	2.45	0.00	0.000	5126	0.253	0.083	2974	2044	2121	2204	2039	0	0	0	0	0	0	14.59	14.66	14.72
2789	0.89	146.6	2973	2044	2204	2039	74.0	9.4	530	2796	0.00	2.50	0.00	0.000	516	0.000	0.103	2983	637	2121	2203	2039	0	0	0	0	0	0	14.91	14.68	14.91
3002	0.89	146.6	2983	637	2204	2040	55.0	9.6	572	3009	0.00	2.47	0.00	0.000	1030	0.000	0.087	2984	2055	2121	2204	2038	0	0	0	0	0	0	14.81	14.71	14.82
3130	0.89	146.6	2983	2057	2204	2039	43.1	9.6	597	3137	0.00	2.55	0.00	0.000	260	0.000	0.124	2983	3466	2122	2204	2040	0	0	0	0	0	0	14.92	14.66	14.92
3288	0.89	146.6	2983	3466	2203	2042	27.3	9.5	628	3295	0.00	2.45	0.00	0.000	1030	0.000	0.080	2995	2040	2122	2204	2040	0	0	0	0	0	0	14.82	14.73	14.83
3357	0.89	146.6	2995	2040	2213	2039	20.5	9.6	641	3363	0.00	2.60	0.00	0.000	260	0.000	0.124	2995	3464	2121	2203	2040	0	0	0	0	0	0	14.92	14.68	14.93
3439	0.89	146.6	2994	3464	2203	2039	12.1	10.0	657	3447	0.10	2.45	0.00	0.000	5126	0.259	0.081	2977	2037	2121	2204	2039	0	0	0	0	0	0	14.65	14.71	14.78
3509	0.95	200.7	2977	2037	2204	2039	7.3	6.0	670	3543	0.00	2.45	26.55	0.205	8708	0.000	0.105	2987	644	1902	1984	1821	0	0	0	0	0	0	14.93	14.65	14.62
3804	end climb: SURFACE_DEPTH_REACHED
state	3804	begin surface coast
3895	end surface coast: CONTROL_FINISHED_OK
state	3895	begin surface