Glider dive log

Shilshole 30Apr19 * SG045 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 45 HD_B 0.0099999998 ROLL_MAX 3860 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 1.6100001e-05 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 12 HEADING -1 C_ROLL_DIVE 2399 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2399 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 450 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 340 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2589 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_TURN 360 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE -1 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 200 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3820 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3441 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044369884

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_T_H 0.00066042581

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.7363718e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.4006232e-06

RHO 1.023 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -10.01541

MASS 79430 PITCH_TIMEOUT 18 PRESSURE_YINT -12.236565 SEABIRD_C_H 1.1730425

MASS_COMP 10859 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0023542538

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00025774896

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.8301

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.003 ROLL_MIN 250 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 450

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 12.7 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3820 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 1.6100001e-05 PRESSURE_YINT -12.236565 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 45 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 360

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3441 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2399 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2399 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2589 MASS 79430 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 10859 ROLL_DEG 40 USE_ICE -1

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3860 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 250 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 14 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.01541 VBD_MIN 340

DIVE 12 NAV_MODE 0 SEABIRD_C_H 1.1730425 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6050 NOCOMM_ACTION 0 SEABIRD_C_I -0.0023542538 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00025774896 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.8301 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0044369884 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00066042581 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7363718e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.4006232e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010519,091449,4742.4053,-12226.4648,16,1.0,37,16.3,0.2,190.0,9,8.1 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.202146,0.199997

_SM_DEPTHo 1.99 KALMAN_X -5708.930664,-314.259644,-198.584442,3366.442383,-764.103821

_SM_ANGLEo -64.4 KALMAN_Y -9067.243164,-398.595490,-2.635292,7584.603027,-628.555481

GPS2 010519,092201,4742.3584,-12226.4834,9,1.5,42,16.3,0.0,284.2,8,9.4 MHEAD_RNG_PITCHd_Wd 15.6,4672,-9.3,-7.500,-14.78,4759

SPEED_LIMITS 0.130,0.284 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.8,1.019981 _24V_AH 24.27,4.396

SM_CCo 4484,99.78,0.663,0,0,1037,450.27 _10V_AH 10.45,1.575

SM_GC 2.54,9.50,0.00,99.78,0.094,0.000,0.663,206,2398,1037,-10.06,-0.03,450.27,0,0,0,0,0,0,26.05,26.40,24.68 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4740.82,-12223.37,010519,074933 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.178262 MEM 312716

HUMID 27.35 DATA_FILE_SIZE 31331,488

INTERNAL_PRESSURE 8.23274 CAP_FILE_SIZE 77132,0

TCM_TEMP 9.80 CFSIZE 2046525440,2041249792

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0

ALTIM_TOP_PING 19.4,19.4 GPS 010519,104055,4742.674,-12226.568,18,0.7,41,16.3,0.0,0.0,11,6.8

ALTIM_BOTTOM_PING 100.1,102.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 280 159.69 SBE_CT 327 23 184.72

Roll_motor 102 99 247.44 AA4330 633 32 495.01

VBD_pump_during_apogee 402 787 7693.81 nil 0 0 0.00

VBD_pump_during_surface 99 662 1605.39 nil 0 0 0.00

VBD_valve 156 146 557.41 nil 0 0 0.00

Iridium_during_init 23 34 20.10 nil 0 0 0.00

Iridium_during_connect 25 160 100.01 nil 0 0 0.00

Iridium_during_xfer 271 223 1471.70 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 14 6.51

TT8 1244 13 181.74

LPSleep 1707 2 39.08

TT8_Active 709 13 97.95

TT8_Sampling 1334 37 528.96

TT8_CF8 47 54 27.14

TT8_Kalman 33 60 21.10

Analog_circuits 1305 10 136.41

GPS_charging 0 0 0.00

Compass 936 7 73.29

RAFOS 0 0 0.00

Transponder 7 30 2.45

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.03 -244.4 206 2396 1046 1030 0.0 0.0 0 102 0.00 0.00 -91.75 0.146 16386 0.000 0.000 206 2396 2098 2086 2110 0 0 0 0 0 0 26.27 28.83 26.29 8.28 28.50

104 -1.03 -244.4 205 2396 2086 2110 3.4 -1.6 15 193 11.62 3.78 -65.03 0.146 18948 0.281 0.097 3104 1004 3432 3398 3467 0 0 0 0 0 0 25.61 25.77 25.73 8.38 27.35

548 -1.03 -244.4 3103 1004 3398 3467 45.7 -9.6 74 556 0.00 3.58 0.00 0.000 1030 0.000 0.074 3090 2405 3432 3398 3467 0 0 0 0 0 0 26.31 26.23 26.33 8.51 27.43

675 -1.03 -244.4 3090 2405 3398 3467 58.1 -9.7 87 685 0.00 3.75 0.00 0.000 516 0.000 0.097 3090 1000 3432 3398 3467 0 0 0 0 0 0 26.58 26.22 26.60 8.50 27.51

767 -1.03 -244.4 3089 1000 3398 3467 67.8 -10.2 96 778 0.10 3.58 0.00 0.000 3078 0.194 0.074 3107 2401 3432 3398 3467 0 0 0 0 0 0 26.22 26.34 26.34 8.50 27.16

897 -1.03 -244.4 3106 2401 3398 3467 79.9 -9.2 109 908 0.00 3.72 0.00 0.000 516 0.000 0.097 3107 1001 3432 3398 3467 0 0 0 0 0 0 26.67 26.31 26.69 8.50 27.55

1019 -1.03 -244.4 3106 1000 3398 3467 91.3 -9.0 121 1030 0.00 3.55 0.00 0.000 1030 0.000 0.074 3093 2398 3432 3398 3467 0 0 0 0 0 0 26.50 26.42 26.52 8.50 27.24

1150 -1.03 -244.4 3093 2398 3397 3467 102.7 -9.3 134 1160 0.00 3.70 0.00 0.000 516 0.000 0.097 3094 1003 3432 3398 3467 0 0 0 0 0 0 26.74 26.38 26.75 8.50 27.75

1294 -1.03 -244.4 3093 1003 3397 3467 116.1 -8.6 148 1303 0.08 3.50 0.00 0.000 3078 0.179 0.074 3105 2393 3432 3398 3467 0 0 0 0 0 0 26.36 26.48 26.52 8.49 27.31

1422 -1.03 -244.4 3104 2392 3398 3467 126.6 -9.2 161 1432 0.00 3.67 0.00 0.000 516 0.000 0.097 3105 1004 3432 3397 3467 0 0 0 0 0 0 26.80 26.44 26.82 8.49 27.24

1494 -1.03 -244.4 3104 1004 3397 3467 133.4 -9.5 168 1505 0.00 3.53 0.00 0.000 1030 0.000 0.074 3092 2398 3432 3398 3467 0 0 0 0 0 0 26.60 26.52 26.62 8.50 27.79

1626 -1.03 -244.4 3091 2398 3398 3467 143.5 -7.6 181 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2398 3432 3398 3467 0 0 0 0 0 0 26.84 26.85 26.84 8.49 27.55

1744 -1.03 -244.4 3092 2399 3397 3467 154.1 -8.7 193 1755 0.00 3.70 0.00 0.000 516 0.000 0.097 3092 999 3432 3397 3467 0 0 0 0 0 0 26.85 26.48 26.86 8.49 27.55

1839 -1.03 -244.4 3092 999 3398 3467 163.4 -10.0 202 1848 0.10 3.55 0.00 0.000 3078 0.194 0.074 3111 2403 3432 3397 3467 0 0 0 0 0 0 26.46 26.57 26.59 8.50 27.71

1967 -1.03 -244.4 3110 2403 3398 3467 175.1 -8.6 215 1977 0.00 3.70 0.00 0.000 516 0.000 0.097 3111 1000 3432 3397 3467 0 0 0 0 0 0 26.88 26.51 26.89 8.50 27.59

2018 end dive: TARGET_DEPTH_EXCEEDED

state 2018 begin apogee

2025 -0.39 0.0 3098 2398 3398 3467 180.1 -9.3 220 2210 0.60 0.00 176.77 0.787 10246 0.149 0.000 3316 2399 2588 2556 2621 0 0 0 0 0 0 26.48 24.91 24.38 8.50 27.55

2211 end apogee: CONTROL_FINISHED_OK

state 2211 begin climb

2212 1.03 244.4 3316 2399 2556 2621 187.5 0.0 239 2404 1.25 4.03 178.73 0.762 10500 0.124 0.099 3754 3798 1747 1719 1775 0 0 1 0 0 0 25.04 24.80 24.27 8.41 26.72

2521 1.03 244.4 3754 3797 1718 1776 168.1 9.5 270 2532 0.00 3.70 0.00 0.000 1030 0.000 0.074 3771 2404 1747 1719 1776 0 0 0 0 0 0 25.67 25.63 25.69 8.33 26.53

2653 1.03 244.4 3770 2404 1719 1776 156.4 9.2 283 2662 0.00 3.80 0.00 0.000 516 0.000 0.099 3787 999 1747 1719 1776 0 0 0 0 0 0 26.15 25.81 26.17 8.33 26.92

2704 1.03 244.4 3786 999 1719 1776 151.3 9.6 288 2714 0.00 3.65 0.00 0.000 1030 0.000 0.074 3787 2402 1748 1720 1776 0 0 0 0 0 0 25.99 25.95 26.01 8.34 27.16

2835 1.03 244.4 3786 2402 1719 1776 139.7 8.6 301 2836 0.00 0.00 0.00 0.000 6 0.000 0.000 3787 2402 1747 1719 1776 0 0 0 0 0 0 26.36 26.38 26.38 8.34 27.24

2954 1.03 244.4 3786 2402 1719 1776 128.7 10.2 313 2955 0.00 0.00 0.00 0.000 6 0.000 0.000 3786 2402 1747 1719 1776 0 0 0 0 0 0 26.46 26.48 26.48 8.34 27.55

3074 1.03 244.4 3786 2402 1719 1775 117.6 9.6 325 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 3787 2402 1747 1719 1775 0 0 0 0 0 0 26.53 26.55 26.55 8.34 28.18

3194 1.03 244.4 3786 2402 1719 1776 105.8 9.9 337 3204 0.00 3.78 0.00 0.000 516 0.000 0.099 3802 995 1747 1719 1776 0 0 0 0 0 0 26.60 26.23 26.61 8.34 28.34

3236 1.03 244.4 3801 995 1719 1776 101.6 10.0 341 3247 0.00 3.60 0.00 0.000 1030 0.000 0.074 3802 2400 1747 1719 1776 0 0 0 0 0 0 26.41 26.33 26.43 8.34 28.26

3367 1.03 244.4 3801 2400 1719 1776 89.2 9.1 354 3369 0.00 0.00 0.00 0.000 6 0.000 0.000 3802 2400 1747 1719 1776 0 0 0 0 0 0 26.66 26.67 26.67 8.34 28.22

3486 1.03 244.4 3801 2400 1718 1776 77.5 9.3 366 3496 0.00 3.75 0.00 0.000 516 0.000 0.099 3815 995 1747 1719 1776 0 0 0 0 0 0 26.70 26.33 26.71 8.33 27.63

3591 1.03 244.4 3814 995 1719 1776 66.6 10.7 376 3600 0.12 3.58 0.00 0.000 5126 0.186 0.074 3775 2399 1747 1719 1776 0 0 0 0 0 0 26.32 26.44 26.46 8.33 27.75

3718 1.03 244.4 3774 2399 1719 1776 54.2 8.9 389 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 3775 2399 1747 1719 1776 0 0 0 0 0 0 26.76 26.77 26.77 8.33 27.83

3839 1.03 244.4 3774 2399 1719 1776 44.8 7.7 401 3849 0.00 3.72 0.00 0.000 516 0.000 0.099 3787 1002 1747 1719 1776 0 0 0 0 0 0 26.79 26.41 26.80 8.33 27.83

3883 1.03 244.4 3787 1002 1719 1776 41.3 8.3 405 3891 0.00 3.55 0.00 0.000 1030 0.000 0.074 3787 2399 1747 1719 1776 0 0 0 0 0 0 26.58 26.50 26.60 8.33 28.46

4011 1.03 244.4 3787 2399 1719 1776 31.2 7.6 418 4021 0.00 3.72 0.00 0.000 516 0.000 0.099 3803 999 1747 1719 1776 0 0 0 0 0 0 26.82 26.44 26.82 8.33 28.02

4085 1.03 244.9 3802 999 1719 1776 25.6 7.5 425 4095 0.08 3.53 0.00 0.000 5126 0.174 0.077 3766 2397 1747 1719 1776 0 0 0 0 0 0 26.41 26.53 26.55 8.33 27.71

4216 1.03 244.9 3766 2396 1719 1776 16.3 7.7 442 4223 0.00 3.78 0.00 0.000 260 0.000 0.099 3766 3804 1747 1719 1776 0 0 0 0 0 0 26.84 26.49 26.85 8.33 28.06

4279 1.03 244.9 3765 3804 1719 1776 10.3 9.8 454 4287 0.00 3.60 0.00 0.000 1030 0.000 0.074 3778 2398 1747 1719 1776 0 0 0 0 0 0 26.65 26.58 26.67 8.33 27.90

4349 1.11 311.1 3779 2398 1719 1776 5.6 6.1 467 4399 0.00 0.00 47.25 0.663 8710 0.000 0.000 3779 2399 1518 1496 1540 0 0 0 0 0 0 26.85 25.85 25.34 8.33 28.22

4420 end climb: SURFACE_DEPTH_REACHED

state 4420 begin surface coast

4468 end surface coast: CONTROL_FINISHED_OK

state 4468 begin surface

ID	45	HD_B	0.0099999998	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	1.6100001e-05	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	12	HEADING	-1	C_ROLL_DIVE	2399	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2399	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	450	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	340	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2589	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_TURN	360	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	-1	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	200	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3820	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3441	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044369884
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_T_H	0.00066042581
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.7363718e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.4006232e-06
RHO	1.023	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01541
MASS	79430	PITCH_TIMEOUT	18	PRESSURE_YINT	-12.236565	SEABIRD_C_H	1.1730425
MASS_COMP	10859	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0023542538
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00025774896
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.8301
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.003	ROLL_MIN	250	COMPASS_USE	4

GPS1	010519,091449,4742.4053,-12226.4648,16,1.0,37,16.3,0.2,190.0,9,8.1	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.202146,0.199997
_SM_DEPTHo	1.99	KALMAN_X	-5708.930664,-314.259644,-198.584442,3366.442383,-764.103821
_SM_ANGLEo	-64.4	KALMAN_Y	-9067.243164,-398.595490,-2.635292,7584.603027,-628.555481
GPS2	010519,092201,4742.3584,-12226.4834,9,1.5,42,16.3,0.0,284.2,8,9.4	MHEAD_RNG_PITCHd_Wd	15.6,4672,-9.3,-7.500,-14.78,4759
SPEED_LIMITS	0.130,0.284	D_GRID	186

FINISH	0.8,1.019981	_24V_AH	24.27,4.396
SM_CCo	4484,99.78,0.663,0,0,1037,450.27	_10V_AH	10.45,1.575
SM_GC	2.54,9.50,0.00,99.78,0.094,0.000,0.663,206,2398,1037,-10.06,-0.03,450.27,0,0,0,0,0,0,26.05,26.40,24.68	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4740.82,-12223.37,010519,074933	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.178262	MEM	312716
HUMID	27.35	DATA_FILE_SIZE	31331,488
INTERNAL_PRESSURE	8.23274	CAP_FILE_SIZE	77132,0
TCM_TEMP	9.80	CFSIZE	2046525440,2041249792
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
ALTIM_TOP_PING	19.4,19.4	GPS	010519,104055,4742.674,-12226.568,18,0.7,41,16.3,0.0,0.0,11,6.8
ALTIM_BOTTOM_PING	100.1,102.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	280	159.69	SBE_CT	327	23	184.72
Roll_motor	102	99	247.44	AA4330	633	32	495.01
VBD_pump_during_apogee	402	787	7693.81	nil	0	0	0.00
VBD_pump_during_surface	99	662	1605.39	nil	0	0	0.00
VBD_valve	156	146	557.41	nil	0	0	0.00
Iridium_during_init	23	34	20.10	nil	0	0	0.00
Iridium_during_connect	25	160	100.01	nil	0	0	0.00
Iridium_during_xfer	271	223	1471.70	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	14	6.51
TT8	1244	13	181.74
LPSleep	1707	2	39.08
TT8_Active	709	13	97.95
TT8_Sampling	1334	37	528.96
TT8_CF8	47	54	27.14
TT8_Kalman	33	60	21.10
Analog_circuits	1305	10	136.41
GPS_charging	0	0	0.00
Compass	936	7	73.29
RAFOS	0	0	0.00
Transponder	7	30	2.45

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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.03	-244.4	206	2396	1046	1030	0.0	0.0	0	102	0.00	0.00	-91.75	0.146	16386	0.000	0.000	206	2396	2098	2086	2110	0	0	0	0	0	0	26.27	28.83	26.29	8.28	28.50
104	-1.03	-244.4	205	2396	2086	2110	3.4	-1.6	15	193	11.62	3.78	-65.03	0.146	18948	0.281	0.097	3104	1004	3432	3398	3467	0	0	0	0	0	0	25.61	25.77	25.73	8.38	27.35
548	-1.03	-244.4	3103	1004	3398	3467	45.7	-9.6	74	556	0.00	3.58	0.00	0.000	1030	0.000	0.074	3090	2405	3432	3398	3467	0	0	0	0	0	0	26.31	26.23	26.33	8.51	27.43
675	-1.03	-244.4	3090	2405	3398	3467	58.1	-9.7	87	685	0.00	3.75	0.00	0.000	516	0.000	0.097	3090	1000	3432	3398	3467	0	0	0	0	0	0	26.58	26.22	26.60	8.50	27.51
767	-1.03	-244.4	3089	1000	3398	3467	67.8	-10.2	96	778	0.10	3.58	0.00	0.000	3078	0.194	0.074	3107	2401	3432	3398	3467	0	0	0	0	0	0	26.22	26.34	26.34	8.50	27.16
897	-1.03	-244.4	3106	2401	3398	3467	79.9	-9.2	109	908	0.00	3.72	0.00	0.000	516	0.000	0.097	3107	1001	3432	3398	3467	0	0	0	0	0	0	26.67	26.31	26.69	8.50	27.55
1019	-1.03	-244.4	3106	1000	3398	3467	91.3	-9.0	121	1030	0.00	3.55	0.00	0.000	1030	0.000	0.074	3093	2398	3432	3398	3467	0	0	0	0	0	0	26.50	26.42	26.52	8.50	27.24
1150	-1.03	-244.4	3093	2398	3397	3467	102.7	-9.3	134	1160	0.00	3.70	0.00	0.000	516	0.000	0.097	3094	1003	3432	3398	3467	0	0	0	0	0	0	26.74	26.38	26.75	8.50	27.75
1294	-1.03	-244.4	3093	1003	3397	3467	116.1	-8.6	148	1303	0.08	3.50	0.00	0.000	3078	0.179	0.074	3105	2393	3432	3398	3467	0	0	0	0	0	0	26.36	26.48	26.52	8.49	27.31
1422	-1.03	-244.4	3104	2392	3398	3467	126.6	-9.2	161	1432	0.00	3.67	0.00	0.000	516	0.000	0.097	3105	1004	3432	3397	3467	0	0	0	0	0	0	26.80	26.44	26.82	8.49	27.24
1494	-1.03	-244.4	3104	1004	3397	3467	133.4	-9.5	168	1505	0.00	3.53	0.00	0.000	1030	0.000	0.074	3092	2398	3432	3398	3467	0	0	0	0	0	0	26.60	26.52	26.62	8.50	27.79
1626	-1.03	-244.4	3091	2398	3398	3467	143.5	-7.6	181	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2398	3432	3398	3467	0	0	0	0	0	0	26.84	26.85	26.84	8.49	27.55
1744	-1.03	-244.4	3092	2399	3397	3467	154.1	-8.7	193	1755	0.00	3.70	0.00	0.000	516	0.000	0.097	3092	999	3432	3397	3467	0	0	0	0	0	0	26.85	26.48	26.86	8.49	27.55
1839	-1.03	-244.4	3092	999	3398	3467	163.4	-10.0	202	1848	0.10	3.55	0.00	0.000	3078	0.194	0.074	3111	2403	3432	3397	3467	0	0	0	0	0	0	26.46	26.57	26.59	8.50	27.71
1967	-1.03	-244.4	3110	2403	3398	3467	175.1	-8.6	215	1977	0.00	3.70	0.00	0.000	516	0.000	0.097	3111	1000	3432	3397	3467	0	0	0	0	0	0	26.88	26.51	26.89	8.50	27.59
2018	end dive: TARGET_DEPTH_EXCEEDED
state	2018	begin apogee
2025	-0.39	0.0	3098	2398	3398	3467	180.1	-9.3	220	2210	0.60	0.00	176.77	0.787	10246	0.149	0.000	3316	2399	2588	2556	2621	0	0	0	0	0	0	26.48	24.91	24.38	8.50	27.55
2211	end apogee: CONTROL_FINISHED_OK
state	2211	begin climb
2212	1.03	244.4	3316	2399	2556	2621	187.5	0.0	239	2404	1.25	4.03	178.73	0.762	10500	0.124	0.099	3754	3798	1747	1719	1775	0	0	1	0	0	0	25.04	24.80	24.27	8.41	26.72
2521	1.03	244.4	3754	3797	1718	1776	168.1	9.5	270	2532	0.00	3.70	0.00	0.000	1030	0.000	0.074	3771	2404	1747	1719	1776	0	0	0	0	0	0	25.67	25.63	25.69	8.33	26.53
2653	1.03	244.4	3770	2404	1719	1776	156.4	9.2	283	2662	0.00	3.80	0.00	0.000	516	0.000	0.099	3787	999	1747	1719	1776	0	0	0	0	0	0	26.15	25.81	26.17	8.33	26.92
2704	1.03	244.4	3786	999	1719	1776	151.3	9.6	288	2714	0.00	3.65	0.00	0.000	1030	0.000	0.074	3787	2402	1748	1720	1776	0	0	0	0	0	0	25.99	25.95	26.01	8.34	27.16
2835	1.03	244.4	3786	2402	1719	1776	139.7	8.6	301	2836	0.00	0.00	0.00	0.000	6	0.000	0.000	3787	2402	1747	1719	1776	0	0	0	0	0	0	26.36	26.38	26.38	8.34	27.24
2954	1.03	244.4	3786	2402	1719	1776	128.7	10.2	313	2955	0.00	0.00	0.00	0.000	6	0.000	0.000	3786	2402	1747	1719	1776	0	0	0	0	0	0	26.46	26.48	26.48	8.34	27.55
3074	1.03	244.4	3786	2402	1719	1775	117.6	9.6	325	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	3787	2402	1747	1719	1775	0	0	0	0	0	0	26.53	26.55	26.55	8.34	28.18
3194	1.03	244.4	3786	2402	1719	1776	105.8	9.9	337	3204	0.00	3.78	0.00	0.000	516	0.000	0.099	3802	995	1747	1719	1776	0	0	0	0	0	0	26.60	26.23	26.61	8.34	28.34
3236	1.03	244.4	3801	995	1719	1776	101.6	10.0	341	3247	0.00	3.60	0.00	0.000	1030	0.000	0.074	3802	2400	1747	1719	1776	0	0	0	0	0	0	26.41	26.33	26.43	8.34	28.26
3367	1.03	244.4	3801	2400	1719	1776	89.2	9.1	354	3369	0.00	0.00	0.00	0.000	6	0.000	0.000	3802	2400	1747	1719	1776	0	0	0	0	0	0	26.66	26.67	26.67	8.34	28.22
3486	1.03	244.4	3801	2400	1718	1776	77.5	9.3	366	3496	0.00	3.75	0.00	0.000	516	0.000	0.099	3815	995	1747	1719	1776	0	0	0	0	0	0	26.70	26.33	26.71	8.33	27.63
3591	1.03	244.4	3814	995	1719	1776	66.6	10.7	376	3600	0.12	3.58	0.00	0.000	5126	0.186	0.074	3775	2399	1747	1719	1776	0	0	0	0	0	0	26.32	26.44	26.46	8.33	27.75
3718	1.03	244.4	3774	2399	1719	1776	54.2	8.9	389	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	3775	2399	1747	1719	1776	0	0	0	0	0	0	26.76	26.77	26.77	8.33	27.83
3839	1.03	244.4	3774	2399	1719	1776	44.8	7.7	401	3849	0.00	3.72	0.00	0.000	516	0.000	0.099	3787	1002	1747	1719	1776	0	0	0	0	0	0	26.79	26.41	26.80	8.33	27.83
3883	1.03	244.4	3787	1002	1719	1776	41.3	8.3	405	3891	0.00	3.55	0.00	0.000	1030	0.000	0.074	3787	2399	1747	1719	1776	0	0	0	0	0	0	26.58	26.50	26.60	8.33	28.46
4011	1.03	244.4	3787	2399	1719	1776	31.2	7.6	418	4021	0.00	3.72	0.00	0.000	516	0.000	0.099	3803	999	1747	1719	1776	0	0	0	0	0	0	26.82	26.44	26.82	8.33	28.02
4085	1.03	244.9	3802	999	1719	1776	25.6	7.5	425	4095	0.08	3.53	0.00	0.000	5126	0.174	0.077	3766	2397	1747	1719	1776	0	0	0	0	0	0	26.41	26.53	26.55	8.33	27.71
4216	1.03	244.9	3766	2396	1719	1776	16.3	7.7	442	4223	0.00	3.78	0.00	0.000	260	0.000	0.099	3766	3804	1747	1719	1776	0	0	0	0	0	0	26.84	26.49	26.85	8.33	28.06
4279	1.03	244.9	3765	3804	1719	1776	10.3	9.8	454	4287	0.00	3.60	0.00	0.000	1030	0.000	0.074	3778	2398	1747	1719	1776	0	0	0	0	0	0	26.65	26.58	26.67	8.33	27.90
4349	1.11	311.1	3779	2398	1719	1776	5.6	6.1	467	4399	0.00	0.00	47.25	0.663	8710	0.000	0.000	3779	2399	1518	1496	1540	0	0	0	0	0	0	26.85	25.85	25.34	8.33	28.22
4420	end climb: SURFACE_DEPTH_REACHED
state	4420	begin surface coast
4468	end surface coast: CONTROL_FINISHED_OK
state	4468	begin surface