Glider dive log

Shilshole 02Aug18 * SG046 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 46 HD_B 0.0099999998 ROLL_MAX 3860 ALTIM_BOTTOM_PING_RANGE 0

MISSION 1 HD_C 9.8500004e-06 ROLL_DEG 65 ALTIM_TOP_PING_RANGE 0

DIVE 15 HEADING -1 C_ROLL_DIVE 2220 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 115

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 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 26 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 320 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 4

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 350 INT_PRESSURE_YINT -0.80000001

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2221 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 75 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 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 5 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 161

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 32

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 3505 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 120 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0044181761

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00064858171

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.6944237e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.3790316e-06

RHO 1.023 PITCH_GAIN 12.5 PHONE_SUPPLY 2 SEABIRD_C_G -9.9767895

MASS 79651 PITCH_TIMEOUT 18 PRESSURE_YINT -14.008195 SEABIRD_C_H 1.1543746

MASS_COMP 10878 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0025079898

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00027491429

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2946.22

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0038000001 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 320

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 12.5 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3820 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 115 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 35 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038000001 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 9.8500004e-06 PRESSURE_YINT -14.008195 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 75

CALL_WAIT 60 HEAD_ERRBAND 10 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 46 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 -0.80000001 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 161 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 3505 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_DIVE 2220 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2221 MASS 79651 ROLL_CNV 0.04555 USE_BATHY -6

DBDW 0 MASS_COMP 10878 ROLL_DEG 65 USE_ICE -1

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3860 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 120 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 1 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.9767895 VBD_MIN 350

DIVE 15 NAV_MODE 0 SEABIRD_C_H 1.1543746 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_I -0.0025079898 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00027491429 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2946.22 W_ADJ_DBAND 5

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0044181761 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00064858171 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6944237e-05 XPDR_VALID 4

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.3790316e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 030818,081401,4743.9082,-12224.2852,6,0.9,25,16.3,0.2,15.4,9,5.9 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.079304,0.123728

_SM_DEPTHo 1.81 KALMAN_X 227.781097,-378.824036,-202.987869,222.372925,35.205627

_SM_ANGLEo -61.3 KALMAN_Y 1143.755615,-550.287781,-217.164642,756.510864,446.720795

GPS2 030818,082141,4743.9717,-12224.2451,9,0.9,15,16.3,0.0,122.3,9,9.9 MHEAD_RNG_PITCHd_Wd 325.7,1029,-16.8,-8.000,-20.01,2232

SPEED_LIMITS 0.114,0.220 D_GRID 174

Post-dive calculations and measurements:

FINISH 1.0,1.022623 _24V_AH 25.01,1.910

SM_CCo 5133,47.92,0.648,0,0,1118,320.13 _10V_AH 10.55,0.510

SM_GC 2.09,10.00,0.38,47.92,0.099,0.084,0.648,208,2217,1118,-10.25,-1.55,320.13,0,0,1,0,0,0,26.77,26.84,25.72 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4745.46,-12130.78,030818,064324 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.182007 MEM 312568

HUMID 15.42 DATA_FILE_SIZE 34865,550

INTERNAL_PRESSURE 8.57536 CAP_FILE_SIZE 87035,0

TCM_TEMP 14.00 CFSIZE 2046525440,2042429440

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0

ALTIM_BOTTOM_PING 115.0,71.5 GPS 030818,095025,4744.650,-12223.850,8,0.9,38,16.3,0.2,327.4,9,8.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 273 167.87 SBE_CT 370 23 215.37

Roll_motor 117 101 300.38 AA4330 715 31 563.02

VBD_pump_during_apogee 266 769 5129.90 nil 0 0 0.00

VBD_pump_during_surface 47 648 776.77 nil 0 0 0.00

VBD_valve 111 171 479.48 nil 0 0 0.00

Iridium_during_init 22 34 19.37 nil 0 0 0.00

Iridium_during_connect 25 160 103.67 nil 0 0 0.00

Iridium_during_xfer 320 223 1789.23 nil 0 0 0.00

Transponder_ping 1 420 13.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 13 2.38

TT8 1478 11 178.97

LPSleep 2030 2 46.92

TT8_Active 545 11 66.03

TT8_Sampling 1556 35 581.80

TT8_CF8 52 56 31.08

TT8_Kalman 33 57 20.45

Analog_circuits 1205 11 139.87

GPS_charging 0 0 0.00

Compass 1143 7 90.37

RAFOS 0 0 0.00

Transponder 10 30 3.17

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 -1.49 -117.3 204 2219 1031 1207 0.0 0.0 0 106 0.00 0.00 -96.78 0.149 16386 0.000 0.000 204 2218 2339 2310 2369 0 0 0 0 0 0 26.79 28.83 26.80 8.61 15.66

108 -1.49 -117.3 204 2219 2310 2369 3.1 -3.2 16 147 11.55 3.85 -15.12 0.171 18692 0.273 0.084 3005 3636 2626 2571 2682 0 0 1 0 0 0 26.19 26.35 26.27 8.76 15.15

259 -1.49 -117.3 3005 3636 2571 2683 23.6 -14.5 42 269 0.00 3.60 0.00 0.000 1030 0.000 0.062 3005 2220 2626 2570 2683 0 0 0 0 0 0 26.62 26.58 26.64 8.78 14.87

389 -1.49 -117.3 3004 2220 2568 2685 40.9 -11.4 55 399 0.00 3.75 0.00 0.000 516 0.000 0.092 3005 811 2626 2567 2686 0 0 0 0 0 0 26.98 26.63 26.99 8.78 14.87

661 -1.49 -117.3 3005 811 2566 2689 79.7 -13.4 82 673 0.10 3.55 0.00 0.000 3078 0.216 0.065 3023 2218 2627 2566 2689 0 0 0 0 0 0 26.70 26.86 26.82 8.77 15.58

791 -1.49 -117.3 3022 2218 2566 2689 93.9 -10.9 95 802 0.00 3.72 0.00 0.000 260 0.000 0.084 3008 3634 2627 2566 2689 0 0 0 0 0 0 27.19 26.88 27.20 8.77 15.03

873 -1.49 -117.3 3008 3634 2566 2689 104.0 -12.7 103 884 0.00 3.55 0.00 0.000 1030 0.000 0.062 3008 2219 2627 2566 2689 0 0 0 0 0 0 27.01 26.94 27.03 8.77 14.95

1003 -1.49 -117.3 3007 2220 2566 2689 119.7 -11.8 116 1014 0.00 3.72 0.00 0.000 516 0.000 0.092 3008 809 2627 2565 2689 0 0 0 0 0 0 27.25 26.90 27.27 8.77 14.95

1116 -1.49 -117.3 3007 809 2563 2689 134.7 -17.6 127 1127 0.10 3.55 0.00 0.000 3078 0.221 0.065 3023 2221 2627 2564 2690 0 0 0 0 0 0 26.85 27.01 26.95 8.77 15.07

1246 -1.49 -117.3 3023 2222 2564 2690 149.3 -10.5 140 1256 0.00 3.70 0.00 0.000 260 0.000 0.084 3009 3638 2626 2564 2689 0 0 0 0 0 0 27.31 26.99 27.32 8.77 15.07

1351 -1.49 -117.3 3008 3638 2564 2690 161.5 -11.4 150 1359 0.00 3.55 0.00 0.000 1030 0.000 0.062 3009 2216 2627 2564 2690 0 0 0 0 0 0 27.13 27.05 27.14 8.76 14.99

1437 end dive: BOTTOM_OBSTACLE_DETECTED

state 1437 begin apogee

1441 -0.40 0.0 3009 2043 2564 2690 172.4 -11.7 159 1530 1.12 0.00 84.50 0.770 10246 0.171 0.000 3368 2043 2221 2125 2317 0 0 0 0 0 0 26.93 25.89 25.37 8.76 15.22

1531 end apogee: CONTROL_FINISHED_OK

state 1531 begin climb

1532 1.49 117.3 3367 2043 2126 2318 176.9 0.0 168 1622 1.27 0.00 86.15 0.745 10502 0.119 0.000 3808 2042 1816 1711 1922 0 0 0 0 0 0 25.91 25.49 25.01 8.73 14.87

1739 1.49 117.3 3808 2042 1712 1922 168.2 5.3 189 1750 0.00 3.88 0.00 0.000 2564 0.000 0.099 3825 645 1817 1712 1923 0 0 0 0 0 0 26.52 26.17 26.52 8.69 14.99

1801 1.49 117.3 3824 645 1712 1922 164.8 5.3 195 1812 0.00 3.62 0.00 0.000 5126 0.000 0.065 3825 2056 1817 1712 1922 0 0 0 0 0 0 26.48 26.41 26.49 8.68 15.07

1932 1.49 117.3 3824 2055 1712 1922 157.5 5.3 208 1933 0.00 0.00 0.00 0.000 4102 0.000 0.000 3825 2056 1817 1712 1922 0 0 0 0 0 0 26.86 26.87 26.87 8.68 15.62

2052 1.49 117.3 3824 2056 1712 1922 151.1 5.0 220 2062 0.00 3.85 0.00 0.000 4612 0.000 0.099 3841 645 1817 1712 1922 0 0 0 0 0 0 26.99 26.63 26.99 8.68 14.87

2114 1.49 117.3 3841 645 1712 1922 148.1 5.1 226 2125 0.08 3.55 0.00 0.000 5126 0.216 0.065 3820 2050 1817 1712 1922 0 0 0 0 0 0 26.62 26.77 26.77 8.68 15.11

2244 1.49 117.3 3820 2050 1712 1922 141.2 5.2 239 2245 0.00 0.00 0.00 0.000 4102 0.000 0.000 3820 2050 1817 1712 1922 0 0 0 0 0 0 27.11 27.12 27.12 8.68 15.89

2364 1.49 117.3 3820 2050 1712 1922 135.0 5.4 251 2374 0.00 3.80 0.00 0.000 4612 0.000 0.102 3831 645 1817 1713 1922 0 0 0 0 0 0 27.17 26.80 27.17 8.67 15.26

2449 1.49 117.3 3831 645 1712 1922 130.8 5.5 259 2457 0.00 3.53 0.00 0.000 5126 0.000 0.065 3832 2049 1817 1712 1922 0 0 0 0 0 0 27.01 26.92 27.01 8.68 15.34

2576 1.49 117.3 3831 2049 1712 1922 124.2 4.4 272 2577 0.00 0.00 0.00 0.000 4102 0.000 0.000 3832 2049 1817 1712 1922 0 0 0 0 0 0 27.24 27.24 27.24 8.67 15.46

2696 1.49 117.3 3831 2049 1712 1922 118.7 4.2 284 2707 0.00 3.65 0.00 0.000 4356 0.000 0.082 3832 3458 1817 1712 1922 0 0 0 0 0 0 27.27 26.96 27.29 8.68 15.54

3070 1.49 117.3 3831 3459 1712 1922 98.9 5.6 321 3080 0.08 3.50 0.00 0.000 5126 0.199 0.065 3825 2058 1816 1712 1921 0 0 0 0 0 0 26.93 27.07 27.03 8.67 15.50

3199 1.49 117.3 3825 2058 1712 1922 92.9 4.6 334 3209 0.00 3.78 0.00 0.000 4612 0.000 0.099 3838 642 1817 1712 1922 0 0 0 0 0 0 27.38 27.01 27.39 8.67 15.62

3573 1.49 117.3 3837 642 1712 1922 72.0 4.6 371 3582 0.05 3.50 0.00 0.000 5126 0.209 0.067 3823 2049 1816 1712 1921 0 0 0 0 0 0 27.00 27.15 27.09 8.67 15.30

3701 1.49 117.3 3823 2049 1712 1922 66.7 4.2 384 3712 0.00 3.75 0.00 0.000 4612 0.000 0.099 3836 645 1817 1712 1922 0 0 0 0 0 0 27.44 27.08 27.44 8.67 15.85

3887 1.49 117.3 3836 645 1712 1922 59.4 4.0 402 3895 0.05 3.50 0.00 0.000 5126 0.248 0.065 3823 2052 1816 1711 1922 0 0 0 0 0 0 27.03 27.18 27.17 8.67 15.42

4014 1.49 117.3 3823 2052 1712 1921 54.5 3.6 415 4024 0.00 3.62 0.00 0.000 4356 0.000 0.082 3823 3460 1816 1712 1921 0 0 0 0 0 0 27.46 27.14 27.46 8.66 15.42

4076 1.49 117.3 3822 3460 1712 1922 52.1 4.3 421 4086 0.00 3.53 0.00 0.000 5126 0.000 0.065 3836 2049 1816 1711 1921 0 0 0 0 0 0 27.26 27.18 27.27 8.67 15.97

4206 1.49 117.3 3835 2048 1712 1922 47.4 3.6 434 4216 0.00 3.75 0.00 0.000 4612 0.000 0.099 3851 639 1817 1712 1922 0 0 0 0 0 0 27.47 27.10 27.48 8.67 15.42

4388 1.49 117.3 3850 640 1712 1922 40.1 4.2 452 4399 0.10 3.53 0.00 0.000 5126 0.204 0.065 3822 2054 1816 1712 1921 0 0 0 0 0 0 27.05 27.21 27.20 8.67 15.62

4519 1.65 253.1 3821 2054 1712 1921 37.0 1.8 465 4622 0.00 4.00 95.82 0.688 12804 0.000 0.099 3824 643 1348 1234 1462 0 0 0 0 0 0 27.49 26.01 25.53 8.67 15.15

4772 1.65 253.1 3823 642 1236 1462 23.4 6.0 490 4780 0.00 3.60 0.00 0.000 5126 0.000 0.065 3824 2047 1349 1237 1462 0 0 0 0 0 0 26.60 26.53 26.62 8.63 15.54

4899 1.65 253.1 3823 2047 1236 1461 15.5 6.7 510 4906 0.00 3.85 0.00 0.000 4612 0.000 0.099 3828 640 1348 1235 1461 0 0 0 0 0 0 26.95 26.60 26.96 8.63 15.93

4958 1.65 253.1 3827 640 1236 1461 11.6 7.5 521 4965 0.00 3.58 0.00 0.000 5126 0.000 0.065 3828 2050 1348 1236 1461 0 0 0 0 0 0 26.81 26.73 26.82 8.63 15.26

5027 1.65 253.1 3827 2051 1237 1461 7.4 6.0 534 5034 0.00 3.72 0.00 0.000 4356 0.000 0.082 3827 3466 1348 1236 1461 0 0 0 0 0 0 27.05 26.73 27.06 8.63 15.78

5066 1.65 253.1 3827 3466 1236 1461 4.6 6.9 541 5074 0.08 3.58 0.00 0.000 5126 0.223 0.065 3819 2052 1349 1237 1461 0 0 0 0 0 0 26.67 26.79 26.80 8.63 15.30

5100 end climb: SURFACE_DEPTH_REACHED

state 5100 begin surface coast

5116 end surface coast: CONTROL_FINISHED_OK

state 5116 begin surface

ID	46	HD_B	0.0099999998	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	1	HD_C	9.8500004e-06	ROLL_DEG	65	ALTIM_TOP_PING_RANGE	0
DIVE	15	HEADING	-1	C_ROLL_DIVE	2220	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	115
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	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	26	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	320	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	4
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	350	INT_PRESSURE_YINT	-0.80000001
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2221	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	75	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	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	5	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	161
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	32
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	3505	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	120	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0044181761
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00064858171
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.6944237e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.3790316e-06
RHO	1.023	PITCH_GAIN	12.5	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9767895
MASS	79651	PITCH_TIMEOUT	18	PRESSURE_YINT	-14.008195	SEABIRD_C_H	1.1543746
MASS_COMP	10878	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0025079898
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00027491429
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2946.22
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0038000001	ROLL_MIN	250	COMPASS_USE	4

GPS1	030818,081401,4743.9082,-12224.2852,6,0.9,25,16.3,0.2,15.4,9,5.9	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.079304,0.123728
_SM_DEPTHo	1.81	KALMAN_X	227.781097,-378.824036,-202.987869,222.372925,35.205627
_SM_ANGLEo	-61.3	KALMAN_Y	1143.755615,-550.287781,-217.164642,756.510864,446.720795
GPS2	030818,082141,4743.9717,-12224.2451,9,0.9,15,16.3,0.0,122.3,9,9.9	MHEAD_RNG_PITCHd_Wd	325.7,1029,-16.8,-8.000,-20.01,2232
SPEED_LIMITS	0.114,0.220	D_GRID	174

FINISH	1.0,1.022623	_24V_AH	25.01,1.910
SM_CCo	5133,47.92,0.648,0,0,1118,320.13	_10V_AH	10.55,0.510
SM_GC	2.09,10.00,0.38,47.92,0.099,0.084,0.648,208,2217,1118,-10.25,-1.55,320.13,0,0,1,0,0,0,26.77,26.84,25.72	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4745.46,-12130.78,030818,064324	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.182007	MEM	312568
HUMID	15.42	DATA_FILE_SIZE	34865,550
INTERNAL_PRESSURE	8.57536	CAP_FILE_SIZE	87035,0
TCM_TEMP	14.00	CFSIZE	2046525440,2042429440
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
ALTIM_BOTTOM_PING	115.0,71.5	GPS	030818,095025,4744.650,-12223.850,8,0.9,38,16.3,0.2,327.4,9,8.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	273	167.87	SBE_CT	370	23	215.37
Roll_motor	117	101	300.38	AA4330	715	31	563.02
VBD_pump_during_apogee	266	769	5129.90	nil	0	0	0.00
VBD_pump_during_surface	47	648	776.77	nil	0	0	0.00
VBD_valve	111	171	479.48	nil	0	0	0.00
Iridium_during_init	22	34	19.37	nil	0	0	0.00
Iridium_during_connect	25	160	103.67	nil	0	0	0.00
Iridium_during_xfer	320	223	1789.23	nil	0	0	0.00
Transponder_ping	1	420	13.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	13	2.38
TT8	1478	11	178.97
LPSleep	2030	2	46.92
TT8_Active	545	11	66.03
TT8_Sampling	1556	35	581.80
TT8_CF8	52	56	31.08
TT8_Kalman	33	57	20.45
Analog_circuits	1205	11	139.87
GPS_charging	0	0	0.00
Compass	1143	7	90.37
RAFOS	0	0	0.00
Transponder	10	30	3.17

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	-1.49	-117.3	204	2219	1031	1207	0.0	0.0	0	106	0.00	0.00	-96.78	0.149	16386	0.000	0.000	204	2218	2339	2310	2369	0	0	0	0	0	0	26.79	28.83	26.80	8.61	15.66
108	-1.49	-117.3	204	2219	2310	2369	3.1	-3.2	16	147	11.55	3.85	-15.12	0.171	18692	0.273	0.084	3005	3636	2626	2571	2682	0	0	1	0	0	0	26.19	26.35	26.27	8.76	15.15
259	-1.49	-117.3	3005	3636	2571	2683	23.6	-14.5	42	269	0.00	3.60	0.00	0.000	1030	0.000	0.062	3005	2220	2626	2570	2683	0	0	0	0	0	0	26.62	26.58	26.64	8.78	14.87
389	-1.49	-117.3	3004	2220	2568	2685	40.9	-11.4	55	399	0.00	3.75	0.00	0.000	516	0.000	0.092	3005	811	2626	2567	2686	0	0	0	0	0	0	26.98	26.63	26.99	8.78	14.87
661	-1.49	-117.3	3005	811	2566	2689	79.7	-13.4	82	673	0.10	3.55	0.00	0.000	3078	0.216	0.065	3023	2218	2627	2566	2689	0	0	0	0	0	0	26.70	26.86	26.82	8.77	15.58
791	-1.49	-117.3	3022	2218	2566	2689	93.9	-10.9	95	802	0.00	3.72	0.00	0.000	260	0.000	0.084	3008	3634	2627	2566	2689	0	0	0	0	0	0	27.19	26.88	27.20	8.77	15.03
873	-1.49	-117.3	3008	3634	2566	2689	104.0	-12.7	103	884	0.00	3.55	0.00	0.000	1030	0.000	0.062	3008	2219	2627	2566	2689	0	0	0	0	0	0	27.01	26.94	27.03	8.77	14.95
1003	-1.49	-117.3	3007	2220	2566	2689	119.7	-11.8	116	1014	0.00	3.72	0.00	0.000	516	0.000	0.092	3008	809	2627	2565	2689	0	0	0	0	0	0	27.25	26.90	27.27	8.77	14.95
1116	-1.49	-117.3	3007	809	2563	2689	134.7	-17.6	127	1127	0.10	3.55	0.00	0.000	3078	0.221	0.065	3023	2221	2627	2564	2690	0	0	0	0	0	0	26.85	27.01	26.95	8.77	15.07
1246	-1.49	-117.3	3023	2222	2564	2690	149.3	-10.5	140	1256	0.00	3.70	0.00	0.000	260	0.000	0.084	3009	3638	2626	2564	2689	0	0	0	0	0	0	27.31	26.99	27.32	8.77	15.07
1351	-1.49	-117.3	3008	3638	2564	2690	161.5	-11.4	150	1359	0.00	3.55	0.00	0.000	1030	0.000	0.062	3009	2216	2627	2564	2690	0	0	0	0	0	0	27.13	27.05	27.14	8.76	14.99
1437	end dive: BOTTOM_OBSTACLE_DETECTED
state	1437	begin apogee
1441	-0.40	0.0	3009	2043	2564	2690	172.4	-11.7	159	1530	1.12	0.00	84.50	0.770	10246	0.171	0.000	3368	2043	2221	2125	2317	0	0	0	0	0	0	26.93	25.89	25.37	8.76	15.22
1531	end apogee: CONTROL_FINISHED_OK
state	1531	begin climb
1532	1.49	117.3	3367	2043	2126	2318	176.9	0.0	168	1622	1.27	0.00	86.15	0.745	10502	0.119	0.000	3808	2042	1816	1711	1922	0	0	0	0	0	0	25.91	25.49	25.01	8.73	14.87
1739	1.49	117.3	3808	2042	1712	1922	168.2	5.3	189	1750	0.00	3.88	0.00	0.000	2564	0.000	0.099	3825	645	1817	1712	1923	0	0	0	0	0	0	26.52	26.17	26.52	8.69	14.99
1801	1.49	117.3	3824	645	1712	1922	164.8	5.3	195	1812	0.00	3.62	0.00	0.000	5126	0.000	0.065	3825	2056	1817	1712	1922	0	0	0	0	0	0	26.48	26.41	26.49	8.68	15.07
1932	1.49	117.3	3824	2055	1712	1922	157.5	5.3	208	1933	0.00	0.00	0.00	0.000	4102	0.000	0.000	3825	2056	1817	1712	1922	0	0	0	0	0	0	26.86	26.87	26.87	8.68	15.62
2052	1.49	117.3	3824	2056	1712	1922	151.1	5.0	220	2062	0.00	3.85	0.00	0.000	4612	0.000	0.099	3841	645	1817	1712	1922	0	0	0	0	0	0	26.99	26.63	26.99	8.68	14.87
2114	1.49	117.3	3841	645	1712	1922	148.1	5.1	226	2125	0.08	3.55	0.00	0.000	5126	0.216	0.065	3820	2050	1817	1712	1922	0	0	0	0	0	0	26.62	26.77	26.77	8.68	15.11
2244	1.49	117.3	3820	2050	1712	1922	141.2	5.2	239	2245	0.00	0.00	0.00	0.000	4102	0.000	0.000	3820	2050	1817	1712	1922	0	0	0	0	0	0	27.11	27.12	27.12	8.68	15.89
2364	1.49	117.3	3820	2050	1712	1922	135.0	5.4	251	2374	0.00	3.80	0.00	0.000	4612	0.000	0.102	3831	645	1817	1713	1922	0	0	0	0	0	0	27.17	26.80	27.17	8.67	15.26
2449	1.49	117.3	3831	645	1712	1922	130.8	5.5	259	2457	0.00	3.53	0.00	0.000	5126	0.000	0.065	3832	2049	1817	1712	1922	0	0	0	0	0	0	27.01	26.92	27.01	8.68	15.34
2576	1.49	117.3	3831	2049	1712	1922	124.2	4.4	272	2577	0.00	0.00	0.00	0.000	4102	0.000	0.000	3832	2049	1817	1712	1922	0	0	0	0	0	0	27.24	27.24	27.24	8.67	15.46
2696	1.49	117.3	3831	2049	1712	1922	118.7	4.2	284	2707	0.00	3.65	0.00	0.000	4356	0.000	0.082	3832	3458	1817	1712	1922	0	0	0	0	0	0	27.27	26.96	27.29	8.68	15.54
3070	1.49	117.3	3831	3459	1712	1922	98.9	5.6	321	3080	0.08	3.50	0.00	0.000	5126	0.199	0.065	3825	2058	1816	1712	1921	0	0	0	0	0	0	26.93	27.07	27.03	8.67	15.50
3199	1.49	117.3	3825	2058	1712	1922	92.9	4.6	334	3209	0.00	3.78	0.00	0.000	4612	0.000	0.099	3838	642	1817	1712	1922	0	0	0	0	0	0	27.38	27.01	27.39	8.67	15.62
3573	1.49	117.3	3837	642	1712	1922	72.0	4.6	371	3582	0.05	3.50	0.00	0.000	5126	0.209	0.067	3823	2049	1816	1712	1921	0	0	0	0	0	0	27.00	27.15	27.09	8.67	15.30
3701	1.49	117.3	3823	2049	1712	1922	66.7	4.2	384	3712	0.00	3.75	0.00	0.000	4612	0.000	0.099	3836	645	1817	1712	1922	0	0	0	0	0	0	27.44	27.08	27.44	8.67	15.85
3887	1.49	117.3	3836	645	1712	1922	59.4	4.0	402	3895	0.05	3.50	0.00	0.000	5126	0.248	0.065	3823	2052	1816	1711	1922	0	0	0	0	0	0	27.03	27.18	27.17	8.67	15.42
4014	1.49	117.3	3823	2052	1712	1921	54.5	3.6	415	4024	0.00	3.62	0.00	0.000	4356	0.000	0.082	3823	3460	1816	1712	1921	0	0	0	0	0	0	27.46	27.14	27.46	8.66	15.42
4076	1.49	117.3	3822	3460	1712	1922	52.1	4.3	421	4086	0.00	3.53	0.00	0.000	5126	0.000	0.065	3836	2049	1816	1711	1921	0	0	0	0	0	0	27.26	27.18	27.27	8.67	15.97
4206	1.49	117.3	3835	2048	1712	1922	47.4	3.6	434	4216	0.00	3.75	0.00	0.000	4612	0.000	0.099	3851	639	1817	1712	1922	0	0	0	0	0	0	27.47	27.10	27.48	8.67	15.42
4388	1.49	117.3	3850	640	1712	1922	40.1	4.2	452	4399	0.10	3.53	0.00	0.000	5126	0.204	0.065	3822	2054	1816	1712	1921	0	0	0	0	0	0	27.05	27.21	27.20	8.67	15.62
4519	1.65	253.1	3821	2054	1712	1921	37.0	1.8	465	4622	0.00	4.00	95.82	0.688	12804	0.000	0.099	3824	643	1348	1234	1462	0	0	0	0	0	0	27.49	26.01	25.53	8.67	15.15
4772	1.65	253.1	3823	642	1236	1462	23.4	6.0	490	4780	0.00	3.60	0.00	0.000	5126	0.000	0.065	3824	2047	1349	1237	1462	0	0	0	0	0	0	26.60	26.53	26.62	8.63	15.54
4899	1.65	253.1	3823	2047	1236	1461	15.5	6.7	510	4906	0.00	3.85	0.00	0.000	4612	0.000	0.099	3828	640	1348	1235	1461	0	0	0	0	0	0	26.95	26.60	26.96	8.63	15.93
4958	1.65	253.1	3827	640	1236	1461	11.6	7.5	521	4965	0.00	3.58	0.00	0.000	5126	0.000	0.065	3828	2050	1348	1236	1461	0	0	0	0	0	0	26.81	26.73	26.82	8.63	15.26
5027	1.65	253.1	3827	2051	1237	1461	7.4	6.0	534	5034	0.00	3.72	0.00	0.000	4356	0.000	0.082	3827	3466	1348	1236	1461	0	0	0	0	0	0	27.05	26.73	27.06	8.63	15.78
5066	1.65	253.1	3827	3466	1236	1461	4.6	6.9	541	5074	0.08	3.58	0.00	0.000	5126	0.223	0.065	3819	2052	1349	1237	1461	0	0	0	0	0	0	26.67	26.79	26.80	8.63	15.30
5100	end climb: SURFACE_DEPTH_REACHED
state	5100	begin surface coast
5116	end surface coast: CONTROL_FINISHED_OK
state	5116	begin surface