Glider dive log

Shilshole 09Apr19 * SG046 * Dive index * Mission links * Dive 16 * 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 3 HD_C 9.8500004e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 16 HEADING -1 C_ROLL_DIVE 2047 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2047 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 0.04555 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 33 ALTIM_FREQUENCY 13

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 29 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 400 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 2703 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 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 5 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 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 3025 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 200 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0044099661

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.000646114

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.5998468e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1825327e-06

RHO 1.0275 PITCH_GAIN 12.5 PHONE_SUPPLY 2 SEABIRD_C_G -9.5395975

MASS 79232.797 PITCH_TIMEOUT 18 PRESSURE_YINT -12.010625 SEABIRD_C_H 1.1021291

MASS_COMP 10878 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0015787298

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019746556

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2945.97

KALMAN_USE 1 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0038000001 ROLL_MIN 250 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0.02 SM_CC 400

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 80 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 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 -12.010625 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 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 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 1.0275 T_TURN_SAMPINT 5

C_PITCH 3025 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2047 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_DIVE 2047 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2703 MASS 79232.797 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 10878 ROLL_DEG 40 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 200 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 33 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.5395975 VBD_MIN 350

DIVE 16 NAV_MODE 0 SEABIRD_C_H 1.1021291 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 0 SEABIRD_C_I -0.0015787298 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00019746556 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2945.97 W_ADJ_DBAND 5

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0044099661 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.000646114 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.5998468e-05 XPDR_VALID 4

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1825327e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 100419,055400,4742.3066,-12225.9062,5,0.8,11,16.3,0.0,0.0,10,9.5 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.028345,0.265972

_SM_DEPTHo 1.49 KALMAN_X 7413.553711,1235.467041,94.027443,-10953.522461,761.604492

_SM_ANGLEo -50.1 KALMAN_Y -1537.683838,-2121.657715,-814.565674,2559.235840,162.715820

GPS2 100419,055803,4742.3213,-12225.9092,9,0.8,15,16.3,0.0,0.0,10,9.5 MHEAD_RNG_PITCHd_Wd 7.2,4400,-11.8,-7.500,-15.66,3954

SPEED_LIMITS 0.130,0.267 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.8,1.001842 _24V_AH 24.51,5.505

SM_CCo 4383,145.57,0.914,0,0,1325,400.02 _10V_AH 10.41,4.597

SM_GC 1.65,8.38,0.00,145.57,0.079,0.000,0.914,193,2048,1325,-8.77,0.05,400.02,0,0,0,0,0,0,26.96,27.27,24.77 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.02,-12222.38,100419,055056 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.170772 MEM 312712

HUMID 19.56 DATA_FILE_SIZE 31332,479

INTERNAL_PRESSURE 8.02846 CAP_FILE_SIZE 82572,0

TCM_TEMP 8.80 CFSIZE 2046525440,2041708544

XPDR_PINGS 1 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 19.1,18.8 INTR 0,87.07,0x236d44,0,24

ALTIM_BOTTOM_PING 81.2,82.7 GPS 100419,071536,4743.024,-12225.630,6,1.4,21,16.3,0.0,344.0,8,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 131.96 SBE_CT 324 23 184.83

Roll_motor 44 84 91.87 AA4330 622 31 479.71

VBD_pump_during_apogee 278 1025 6998.70 nil 0 0 0.00

VBD_pump_during_surface 145 913 3260.28 nil 0 0 0.00

VBD_valve 202 163 814.17 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 13 2.26

TT8 1236 11 147.59

LPSleep 1824 2 41.60

TT8_Active 612 11 73.08

TT8_Sampling 900 35 332.18

TT8_CF8 35 56 20.62

TT8_Kalman 33 57 20.15

Analog_circuits 1139 11 130.44

GPS_charging 0 0 0.00

Compass 877 7 68.42

RAFOS 0 0 0.00

Transponder 7 30 2.28

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 -1.18 -194.6 199 2044 1220 1429 0.0 0.0 0 192 0.00 0.00 -182.05 0.144 16386 0.000 0.000 199 2044 3065 2969 3161 0 0 0 0 0 0 26.93 28.83 26.94 8.06 20.07

194 -1.18 -194.6 198 2044 2969 3161 3.2 -2.9 30 233 9.65 2.28 -20.65 0.164 18692 0.261 0.074 2628 2914 3373 3258 3489 0 0 0 0 0 0 26.15 26.32 26.24 8.22 19.71

555 -1.05 -194.6 2628 2914 3258 3490 38.3 -7.9 79 565 0.20 2.15 0.00 0.000 3078 0.179 0.065 2689 2048 3373 3258 3489 0 0 0 0 0 0 26.53 26.70 26.67 8.25 19.60

685 -0.98 -194.6 2688 2048 3258 3489 46.6 -5.4 92 695 0.00 2.25 0.00 0.000 516 0.000 0.082 2689 1186 3373 3258 3489 0 0 0 0 0 0 27.03 26.71 27.04 8.24 19.16

869 -0.87 -194.6 2688 1185 3258 3489 59.5 -6.3 110 878 0.17 2.17 0.00 0.000 3078 0.164 0.065 2738 2046 3373 3258 3488 0 0 0 0 0 0 26.67 26.84 26.77 8.24 19.40

996 -0.87 -194.6 2737 2046 3257 3489 66.0 -6.2 123 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2046 3373 3258 3488 0 0 0 0 0 0 27.14 27.16 27.15 8.24 19.44

1117 -0.87 -194.6 2737 2046 3258 3488 72.4 -5.6 135 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2046 3373 3258 3489 0 0 0 0 0 0 27.17 27.18 27.18 8.24 19.95

1236 -0.87 -194.6 2737 2046 3258 3488 79.8 -7.1 147 1241 0.00 2.25 0.00 0.000 516 0.000 0.084 2738 1182 3373 3258 3488 0 0 0 0 0 0 27.20 26.88 27.21 8.24 19.60

1305 -0.87 -194.6 2737 1182 3258 3488 85.3 -8.3 153 1309 0.00 2.15 0.00 0.000 1030 0.000 0.067 2738 2049 3373 3258 3488 0 0 0 0 0 0 27.01 26.94 27.01 8.24 19.60

1430 -0.87 -194.6 2737 2049 3258 3488 94.2 -6.4 165 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2049 3373 3258 3488 0 0 0 0 0 0 27.23 27.24 27.24 8.24 19.44

1550 -0.87 -194.6 2737 2049 3258 3487 103.1 -7.9 177 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2049 3373 3258 3488 0 0 0 0 0 0 27.25 27.27 27.27 8.24 19.64

1670 -0.87 -194.6 2737 2049 3258 3488 111.4 -6.7 189 1671 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2050 3373 3258 3488 0 0 0 0 0 0 27.27 27.29 27.28 8.24 19.48

1790 -0.87 -194.6 2737 2049 3258 3488 119.9 -7.4 201 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2049 3373 3258 3488 0 0 0 0 0 0 27.28 27.30 27.30 8.24 19.79

1910 -0.87 -194.6 2737 2049 3258 3487 128.2 -7.1 213 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2049 3372 3258 3487 0 0 0 0 0 0 27.29 27.32 27.32 8.24 19.75

2030 -0.87 -194.6 2737 2049 3258 3487 136.9 -7.6 225 2034 0.00 2.22 0.00 0.000 516 0.000 0.082 2738 1185 3373 3258 3488 0 0 0 0 0 0 27.32 26.98 27.32 8.23 20.07

2086 -0.87 -194.6 2737 1185 3258 3487 141.3 -8.0 230 2090 0.00 2.12 0.00 0.000 1030 0.000 0.065 2733 2046 3372 3258 3487 0 0 0 0 0 0 27.11 27.05 27.13 8.23 20.23

2190 end dive: BOTTOM_OBSTACLE_DETECTED

state 2190 begin apogee

2193 -0.40 0.0 2732 2046 3258 3487 149.1 -7.5 240 2341 0.50 0.00 139.07 1.025 10246 0.151 0.000 2895 2046 2701 2589 2814 0 0 0 0 0 0 26.90 25.28 24.68 8.24 19.79

2342 end apogee: CONTROL_FINISHED_OK

state 2342 begin climb

2343 1.18 194.6 2895 2046 2589 2813 154.2 0.0 255 2493 1.48 2.42 139.38 0.981 10756 0.124 0.084 3391 1185 2032 1921 2144 0 0 0 0 0 0 25.44 24.94 24.51 8.19 19.52

2529 1.10 194.6 3391 1185 1921 2144 142.6 8.8 273 2536 0.00 2.25 0.00 0.000 1030 0.000 0.065 3391 2045 2032 1921 2144 0 0 0 0 0 0 25.71 25.65 25.72 8.14 19.01

2656 1.03 194.6 3391 2044 1921 2144 130.5 9.3 286 2658 0.12 0.00 0.00 0.000 4102 0.169 0.000 3354 2045 2032 1921 2144 0 0 0 0 0 0 26.01 26.15 26.13 8.14 19.04

2776 1.03 194.6 3353 2045 1921 2144 121.1 7.6 298 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 3354 2045 2032 1921 2144 0 0 0 0 0 0 26.58 26.59 26.59 8.13 20.03

2896 1.03 194.6 3353 2045 1921 2144 111.0 7.9 310 2900 0.00 2.30 0.00 0.000 516 0.000 0.082 3361 1182 2032 1921 2144 0 0 0 0 0 0 26.72 26.42 26.73 8.13 19.52

2982 0.97 194.6 3360 1183 1921 2144 103.4 8.4 318 2991 0.00 2.17 0.00 0.000 1030 0.000 0.065 3361 2047 2032 1921 2144 0 0 0 0 0 0 26.61 26.55 26.63 8.13 19.87

3112 0.91 194.6 3360 2047 1921 2144 92.2 9.2 331 3114 0.15 0.00 0.00 0.000 4102 0.166 0.000 3315 2047 2032 1920 2144 0 0 0 0 0 0 26.51 26.67 26.63 8.13 19.60

3232 0.91 194.6 3315 2047 1921 2144 84.2 6.2 343 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2047 2032 1921 2144 0 0 0 0 0 0 26.96 26.98 26.98 8.12 19.87

3352 0.91 194.6 3315 2047 1921 2144 77.6 5.4 355 3361 0.00 2.28 0.00 0.000 516 0.000 0.084 3318 1184 2032 1921 2144 0 0 0 0 0 0 27.02 26.70 27.03 8.12 20.03

3446 0.91 194.6 3318 1184 1921 2144 71.4 6.4 364 3454 0.00 2.17 0.00 0.000 1030 0.000 0.065 3319 2042 2032 1921 2144 0 0 0 0 0 0 26.84 26.84 26.85 8.13 19.79

3573 0.91 194.6 3317 2042 1921 2144 61.9 7.2 377 3577 0.00 2.25 0.00 0.000 516 0.000 0.084 3322 1185 2032 1921 2144 0 0 0 0 0 0 27.10 26.78 27.11 8.13 19.95

3669 0.91 194.6 3321 1185 1920 2144 55.4 7.0 386 3673 0.00 2.17 0.00 0.000 1030 0.000 0.067 3322 2057 2032 1921 2144 0 0 0 0 0 0 26.93 26.86 26.94 8.13 19.83

3800 0.91 194.6 3321 2057 1921 2144 46.1 7.5 399 3804 0.00 2.28 0.00 0.000 516 0.000 0.082 3330 1186 2032 1921 2144 0 0 0 0 0 0 27.16 26.84 27.17 8.12 20.50

3939 0.91 194.6 3330 1186 1921 2144 33.6 9.4 412 3946 0.00 2.15 0.00 0.000 1030 0.000 0.065 3330 2051 2032 1921 2144 0 0 0 0 0 0 26.99 26.93 27.01 8.12 19.95

4066 0.91 194.6 3330 2050 1920 2144 22.6 8.0 425 4067 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2051 2032 1921 2144 0 0 0 0 0 0 27.22 27.23 27.23 8.11 19.64

4188 0.91 194.6 3329 2051 1921 2144 12.9 9.0 445 4195 0.00 2.20 0.00 0.000 260 0.000 0.077 3330 2917 2032 1920 2144 0 0 0 0 0 0 27.24 26.94 27.24 8.11 19.79

4261 0.91 194.6 3330 2917 1920 2144 7.8 6.5 459 4268 0.00 2.15 0.00 0.000 1030 0.000 0.065 3338 2048 2032 1921 2144 0 0 0 0 0 0 27.04 26.98 27.06 8.12 19.95

4330 0.91 194.6 3337 2048 1920 2144 2.6 7.2 472 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2048 2032 1921 2144 0 0 0 0 0 0 27.25 27.27 27.27 8.11 19.75

4341 end climb: SURFACE_DEPTH_REACHED

state 4341 begin surface coast

4368 end surface coast: CONTROL_FINISHED_OK

state 4368 begin surface

ID	46	HD_B	0.0099999998	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	3	HD_C	9.8500004e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	16	HEADING	-1	C_ROLL_DIVE	2047	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2047	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	0.04555	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	29	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	400	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	2703	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	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	5	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	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	3025	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	200	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0044099661
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.000646114
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.5998468e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1825327e-06
RHO	1.0275	PITCH_GAIN	12.5	PHONE_SUPPLY	2	SEABIRD_C_G	-9.5395975
MASS	79232.797	PITCH_TIMEOUT	18	PRESSURE_YINT	-12.010625	SEABIRD_C_H	1.1021291
MASS_COMP	10878	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0015787298
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019746556
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2945.97
KALMAN_USE	1	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0038000001	ROLL_MIN	250	COMPASS_USE	4

GPS1	100419,055400,4742.3066,-12225.9062,5,0.8,11,16.3,0.0,0.0,10,9.5	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.028345,0.265972
_SM_DEPTHo	1.49	KALMAN_X	7413.553711,1235.467041,94.027443,-10953.522461,761.604492
_SM_ANGLEo	-50.1	KALMAN_Y	-1537.683838,-2121.657715,-814.565674,2559.235840,162.715820
GPS2	100419,055803,4742.3213,-12225.9092,9,0.8,15,16.3,0.0,0.0,10,9.5	MHEAD_RNG_PITCHd_Wd	7.2,4400,-11.8,-7.500,-15.66,3954
SPEED_LIMITS	0.130,0.267	D_GRID	180

FINISH	0.8,1.001842	_24V_AH	24.51,5.505
SM_CCo	4383,145.57,0.914,0,0,1325,400.02	_10V_AH	10.41,4.597
SM_GC	1.65,8.38,0.00,145.57,0.079,0.000,0.914,193,2048,1325,-8.77,0.05,400.02,0,0,0,0,0,0,26.96,27.27,24.77	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.02,-12222.38,100419,055056	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.170772	MEM	312712
HUMID	19.56	DATA_FILE_SIZE	31332,479
INTERNAL_PRESSURE	8.02846	CAP_FILE_SIZE	82572,0
TCM_TEMP	8.80	CFSIZE	2046525440,2041708544
XPDR_PINGS	1	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.1,18.8	INTR	0,87.07,0x236d44,0,24
ALTIM_BOTTOM_PING	81.2,82.7	GPS	100419,071536,4743.024,-12225.630,6,1.4,21,16.3,0.0,344.0,8,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	131.96	SBE_CT	324	23	184.83
Roll_motor	44	84	91.87	AA4330	622	31	479.71
VBD_pump_during_apogee	278	1025	6998.70	nil	0	0	0.00
VBD_pump_during_surface	145	913	3260.28	nil	0	0	0.00
VBD_valve	202	163	814.17	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	13	2.26
TT8	1236	11	147.59
LPSleep	1824	2	41.60
TT8_Active	612	11	73.08
TT8_Sampling	900	35	332.18
TT8_CF8	35	56	20.62
TT8_Kalman	33	57	20.15
Analog_circuits	1139	11	130.44
GPS_charging	0	0	0.00
Compass	877	7	68.42
RAFOS	0	0	0.00
Transponder	7	30	2.28

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	-1.18	-194.6	199	2044	1220	1429	0.0	0.0	0	192	0.00	0.00	-182.05	0.144	16386	0.000	0.000	199	2044	3065	2969	3161	0	0	0	0	0	0	26.93	28.83	26.94	8.06	20.07
194	-1.18	-194.6	198	2044	2969	3161	3.2	-2.9	30	233	9.65	2.28	-20.65	0.164	18692	0.261	0.074	2628	2914	3373	3258	3489	0	0	0	0	0	0	26.15	26.32	26.24	8.22	19.71
555	-1.05	-194.6	2628	2914	3258	3490	38.3	-7.9	79	565	0.20	2.15	0.00	0.000	3078	0.179	0.065	2689	2048	3373	3258	3489	0	0	0	0	0	0	26.53	26.70	26.67	8.25	19.60
685	-0.98	-194.6	2688	2048	3258	3489	46.6	-5.4	92	695	0.00	2.25	0.00	0.000	516	0.000	0.082	2689	1186	3373	3258	3489	0	0	0	0	0	0	27.03	26.71	27.04	8.24	19.16
869	-0.87	-194.6	2688	1185	3258	3489	59.5	-6.3	110	878	0.17	2.17	0.00	0.000	3078	0.164	0.065	2738	2046	3373	3258	3488	0	0	0	0	0	0	26.67	26.84	26.77	8.24	19.40
996	-0.87	-194.6	2737	2046	3257	3489	66.0	-6.2	123	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2046	3373	3258	3488	0	0	0	0	0	0	27.14	27.16	27.15	8.24	19.44
1117	-0.87	-194.6	2737	2046	3258	3488	72.4	-5.6	135	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2046	3373	3258	3489	0	0	0	0	0	0	27.17	27.18	27.18	8.24	19.95
1236	-0.87	-194.6	2737	2046	3258	3488	79.8	-7.1	147	1241	0.00	2.25	0.00	0.000	516	0.000	0.084	2738	1182	3373	3258	3488	0	0	0	0	0	0	27.20	26.88	27.21	8.24	19.60
1305	-0.87	-194.6	2737	1182	3258	3488	85.3	-8.3	153	1309	0.00	2.15	0.00	0.000	1030	0.000	0.067	2738	2049	3373	3258	3488	0	0	0	0	0	0	27.01	26.94	27.01	8.24	19.60
1430	-0.87	-194.6	2737	2049	3258	3488	94.2	-6.4	165	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2049	3373	3258	3488	0	0	0	0	0	0	27.23	27.24	27.24	8.24	19.44
1550	-0.87	-194.6	2737	2049	3258	3487	103.1	-7.9	177	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2049	3373	3258	3488	0	0	0	0	0	0	27.25	27.27	27.27	8.24	19.64
1670	-0.87	-194.6	2737	2049	3258	3488	111.4	-6.7	189	1671	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2050	3373	3258	3488	0	0	0	0	0	0	27.27	27.29	27.28	8.24	19.48
1790	-0.87	-194.6	2737	2049	3258	3488	119.9	-7.4	201	1791	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2049	3373	3258	3488	0	0	0	0	0	0	27.28	27.30	27.30	8.24	19.79
1910	-0.87	-194.6	2737	2049	3258	3487	128.2	-7.1	213	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2049	3372	3258	3487	0	0	0	0	0	0	27.29	27.32	27.32	8.24	19.75
2030	-0.87	-194.6	2737	2049	3258	3487	136.9	-7.6	225	2034	0.00	2.22	0.00	0.000	516	0.000	0.082	2738	1185	3373	3258	3488	0	0	0	0	0	0	27.32	26.98	27.32	8.23	20.07
2086	-0.87	-194.6	2737	1185	3258	3487	141.3	-8.0	230	2090	0.00	2.12	0.00	0.000	1030	0.000	0.065	2733	2046	3372	3258	3487	0	0	0	0	0	0	27.11	27.05	27.13	8.23	20.23
2190	end dive: BOTTOM_OBSTACLE_DETECTED
state	2190	begin apogee
2193	-0.40	0.0	2732	2046	3258	3487	149.1	-7.5	240	2341	0.50	0.00	139.07	1.025	10246	0.151	0.000	2895	2046	2701	2589	2814	0	0	0	0	0	0	26.90	25.28	24.68	8.24	19.79
2342	end apogee: CONTROL_FINISHED_OK
state	2342	begin climb
2343	1.18	194.6	2895	2046	2589	2813	154.2	0.0	255	2493	1.48	2.42	139.38	0.981	10756	0.124	0.084	3391	1185	2032	1921	2144	0	0	0	0	0	0	25.44	24.94	24.51	8.19	19.52
2529	1.10	194.6	3391	1185	1921	2144	142.6	8.8	273	2536	0.00	2.25	0.00	0.000	1030	0.000	0.065	3391	2045	2032	1921	2144	0	0	0	0	0	0	25.71	25.65	25.72	8.14	19.01
2656	1.03	194.6	3391	2044	1921	2144	130.5	9.3	286	2658	0.12	0.00	0.00	0.000	4102	0.169	0.000	3354	2045	2032	1921	2144	0	0	0	0	0	0	26.01	26.15	26.13	8.14	19.04
2776	1.03	194.6	3353	2045	1921	2144	121.1	7.6	298	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	3354	2045	2032	1921	2144	0	0	0	0	0	0	26.58	26.59	26.59	8.13	20.03
2896	1.03	194.6	3353	2045	1921	2144	111.0	7.9	310	2900	0.00	2.30	0.00	0.000	516	0.000	0.082	3361	1182	2032	1921	2144	0	0	0	0	0	0	26.72	26.42	26.73	8.13	19.52
2982	0.97	194.6	3360	1183	1921	2144	103.4	8.4	318	2991	0.00	2.17	0.00	0.000	1030	0.000	0.065	3361	2047	2032	1921	2144	0	0	0	0	0	0	26.61	26.55	26.63	8.13	19.87
3112	0.91	194.6	3360	2047	1921	2144	92.2	9.2	331	3114	0.15	0.00	0.00	0.000	4102	0.166	0.000	3315	2047	2032	1920	2144	0	0	0	0	0	0	26.51	26.67	26.63	8.13	19.60
3232	0.91	194.6	3315	2047	1921	2144	84.2	6.2	343	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2047	2032	1921	2144	0	0	0	0	0	0	26.96	26.98	26.98	8.12	19.87
3352	0.91	194.6	3315	2047	1921	2144	77.6	5.4	355	3361	0.00	2.28	0.00	0.000	516	0.000	0.084	3318	1184	2032	1921	2144	0	0	0	0	0	0	27.02	26.70	27.03	8.12	20.03
3446	0.91	194.6	3318	1184	1921	2144	71.4	6.4	364	3454	0.00	2.17	0.00	0.000	1030	0.000	0.065	3319	2042	2032	1921	2144	0	0	0	0	0	0	26.84	26.84	26.85	8.13	19.79
3573	0.91	194.6	3317	2042	1921	2144	61.9	7.2	377	3577	0.00	2.25	0.00	0.000	516	0.000	0.084	3322	1185	2032	1921	2144	0	0	0	0	0	0	27.10	26.78	27.11	8.13	19.95
3669	0.91	194.6	3321	1185	1920	2144	55.4	7.0	386	3673	0.00	2.17	0.00	0.000	1030	0.000	0.067	3322	2057	2032	1921	2144	0	0	0	0	0	0	26.93	26.86	26.94	8.13	19.83
3800	0.91	194.6	3321	2057	1921	2144	46.1	7.5	399	3804	0.00	2.28	0.00	0.000	516	0.000	0.082	3330	1186	2032	1921	2144	0	0	0	0	0	0	27.16	26.84	27.17	8.12	20.50
3939	0.91	194.6	3330	1186	1921	2144	33.6	9.4	412	3946	0.00	2.15	0.00	0.000	1030	0.000	0.065	3330	2051	2032	1921	2144	0	0	0	0	0	0	26.99	26.93	27.01	8.12	19.95
4066	0.91	194.6	3330	2050	1920	2144	22.6	8.0	425	4067	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2051	2032	1921	2144	0	0	0	0	0	0	27.22	27.23	27.23	8.11	19.64
4188	0.91	194.6	3329	2051	1921	2144	12.9	9.0	445	4195	0.00	2.20	0.00	0.000	260	0.000	0.077	3330	2917	2032	1920	2144	0	0	0	0	0	0	27.24	26.94	27.24	8.11	19.79
4261	0.91	194.6	3330	2917	1920	2144	7.8	6.5	459	4268	0.00	2.15	0.00	0.000	1030	0.000	0.065	3338	2048	2032	1921	2144	0	0	0	0	0	0	27.04	26.98	27.06	8.12	19.95
4330	0.91	194.6	3337	2048	1920	2144	2.6	7.2	472	4336	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2048	2032	1921	2144	0	0	0	0	0	0	27.25	27.27	27.27	8.11	19.75
4341	end climb: SURFACE_DEPTH_REACHED
state	4341	begin surface coast
4368	end surface coast: CONTROL_FINISHED_OK
state	4368	begin surface