Glider dive log

Shilshole 09Apr19 * SG046 * Dive index * Mission links * Dive 20 * 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 20 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 32 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 32 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 20 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 100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.188646,-0.189624

_SM_DEPTHo 1.62 KALMAN_X 12205.858398,363.629578,-722.488770,-12486.862305,1576.864380

_SM_ANGLEo -55.8 KALMAN_Y -2662.883057,-3008.931641,1370.940918,5602.249512,-552.461914

GPS2 100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4 MHEAD_RNG_PITCHd_Wd 158.2,1965,-11.8,-7.500,-15.66,3954

SPEED_LIMITS 0.130,0.267 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.7,1.011420 _24V_AH 24.46,6.078

SM_CCo 4016,145.32,0.941,0,0,1325,400.02 _10V_AH 10.43,4.723

SM_GC 1.66,8.40,2.17,145.32,0.077,0.062,0.941,186,2042,1325,-8.80,1.59,400.02,0,0,1,0,0,0,26.89,26.91,24.74 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.02,-12222.38,100419,094655 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.170023 MEM 312608

HUMID 19.64 DATA_FILE_SIZE 27839,444

INTERNAL_PRESSURE 8.02846 CAP_FILE_SIZE 70223,0

TCM_TEMP 8.90 CFSIZE 2046525440,2041315328

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

ALTIM_TOP_PING 19.8,19.3 GPS 100419,122323,4743.477,-12224.565,5,1.0,17,16.3,0.0,0.0,8,9.8

ALTIM_BOTTOM_PING 80.1,81.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 132.48 SBE_CT 300 23 170.65

Roll_motor 39 84 82.34 AA4330 576 31 443.58

VBD_pump_during_apogee 279 1040 7122.79 nil 0 0 0.00

VBD_pump_during_surface 145 941 3345.13 nil 0 0 0.00

VBD_valve 191 156 733.88 nil 0 0 0.00

Iridium_during_init 22 34 18.86 nil 0 0 0.00

Iridium_during_connect 35 160 139.15 nil 0 0 0.00

Iridium_during_xfer 250 223 1364.56 nil 0 0 0.00

Transponder_ping 0 420 7.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 13 2.02

TT8 1140 11 136.40

LPSleep 1670 2 38.16

TT8_Active 627 11 75.05

TT8_Sampling 1092 35 403.80

TT8_CF8 44 56 26.35

TT8_Kalman 33 57 20.18

Analog_circuits 1085 11 124.52

GPS_charging 0 0 0.00

Compass 753 7 58.88

RAFOS 0 0 0.00

Transponder 8 30 2.52

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 -194.6 187 2052 1231 1419 0.0 0.0 0 172 0.00 0.00 -161.82 0.144 16386 0.000 0.000 187 2052 2933 2838 3028 0 0 0 0 0 0 26.58 28.83 26.59 8.06 19.64

174 -1.18 -194.6 186 2052 2838 3028 3.1 -2.7 27 218 9.82 0.00 -29.98 0.156 18950 0.261 0.000 2641 2052 3374 3257 3492 0 0 0 0 0 0 25.96 26.20 26.06 8.21 19.52

281 -1.05 -194.6 2641 2052 3257 3492 15.1 -14.1 46 288 0.12 2.25 0.00 0.000 2308 0.191 0.074 2675 2913 3374 3256 3492 0 0 0 0 0 0 26.18 26.29 26.27 8.25 19.44

368 -0.96 -194.6 2674 2913 3256 3492 23.5 -8.9 59 376 0.12 2.17 0.00 0.000 3078 0.181 0.062 2712 2044 3374 3257 3492 0 0 0 0 0 0 26.29 26.44 26.43 8.25 19.56

496 -0.90 -194.6 2711 2044 3256 3492 34.5 -9.1 72 497 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2044 3374 3257 3492 0 0 0 0 0 0 26.82 26.84 26.84 8.25 19.16

616 -0.84 -194.6 2711 2044 3257 3492 44.5 -8.7 84 618 0.12 0.00 0.00 0.000 2054 0.179 0.000 2751 2044 3374 3257 3492 0 0 0 0 0 0 26.52 26.68 26.64 8.24 19.01

735 -0.84 -194.6 2751 2044 3256 3492 52.9 -6.8 96 736 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2044 3374 3256 3492 0 0 0 0 0 0 26.97 26.98 26.98 8.24 19.28

855 -0.84 -194.6 2751 2044 3257 3492 61.3 -8.1 108 856 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2044 3374 3256 3492 0 0 0 0 0 0 27.02 27.04 27.04 8.24 19.28

975 -0.84 -194.6 2751 2043 3256 3492 69.6 -6.9 120 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2044 3374 3256 3492 0 0 0 0 0 0 27.07 27.09 27.08 8.23 19.28

1095 -0.84 -194.6 2750 2044 3256 3492 78.3 -7.0 132 1099 0.00 2.22 0.00 0.000 516 0.000 0.082 2751 1185 3374 3256 3492 0 0 0 0 0 0 27.11 26.79 27.13 8.24 19.36

1216 -0.84 -194.6 2751 1186 3256 3492 86.8 -7.7 143 1224 0.00 2.17 0.00 0.000 1030 0.000 0.065 2751 2048 3374 3256 3492 0 0 0 0 0 0 26.91 26.88 26.93 8.23 19.75

1344 -0.84 -194.6 2751 2048 3256 3492 95.6 -6.6 156 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2048 3374 3256 3492 0 0 0 0 0 0 27.17 27.18 27.18 8.23 19.44

1464 -0.84 -194.6 2751 2048 3256 3492 103.8 -6.8 168 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2048 3374 3256 3492 0 0 0 0 0 0 27.20 27.21 27.20 8.23 19.71

1584 -0.84 -194.6 2751 2048 3256 3492 110.7 -5.7 180 1585 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2048 3374 3256 3492 0 0 0 0 0 0 27.22 27.23 27.23 8.23 19.16

1704 -0.84 -194.6 2751 2048 3256 3492 118.8 -6.8 192 1708 0.00 2.25 0.00 0.000 516 0.000 0.082 2752 1184 3374 3256 3492 0 0 0 0 0 0 27.24 26.91 27.25 8.23 19.71

1800 -0.84 -194.6 2751 1184 3257 3492 126.1 -7.9 201 1804 0.00 2.15 0.00 0.000 1030 0.000 0.067 2752 2050 3374 3256 3492 0 0 0 0 0 0 27.05 26.98 27.06 8.23 19.48

1931 -0.84 -194.6 2751 2051 3256 3491 135.7 -6.8 214 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2051 3374 3256 3492 0 0 0 0 0 0 27.27 27.29 27.28 8.23 19.79

2051 -0.84 -194.6 2751 2051 3256 3492 143.5 -5.8 226 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2051 3374 3256 3492 0 0 0 0 0 0 27.28 27.30 27.29 8.23 19.87

2120 end dive: BOTTOM_OBSTACLE_DETECTED

state 2120 begin apogee

2123 -0.40 0.0 2751 2051 3256 3492 147.0 -5.3 233 2271 0.45 0.00 139.23 1.040 10246 0.146 0.000 2900 2051 2702 2590 2815 0 0 0 0 0 0 26.89 25.22 24.64 8.23 19.67

2272 end apogee: CONTROL_FINISHED_OK

state 2272 begin climb

2273 1.18 194.6 2900 2051 2590 2815 149.9 0.0 248 2422 1.48 0.00 140.68 0.976 10246 0.124 0.000 3386 2051 2031 1920 2142 0 0 0 0 0 0 25.39 25.03 24.46 8.18 19.20

2541 1.10 194.6 3385 2051 1921 2143 125.5 12.0 275 2542 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 2051 2032 1921 2143 0 0 0 0 0 0 26.19 26.20 26.20 8.13 18.85

2661 1.02 194.6 3385 2051 1921 2143 113.3 10.2 287 2671 0.10 2.33 0.00 0.000 4612 0.176 0.082 3359 1185 2031 1921 2142 0 0 0 0 0 0 26.12 26.17 26.19 8.12 19.36

2745 1.02 194.6 3359 1185 1921 2143 105.8 8.6 295 2753 0.00 2.22 0.00 0.000 1030 0.000 0.065 3359 2046 2032 1921 2143 0 0 0 0 0 0 26.41 26.35 26.39 8.12 19.24

2873 1.02 194.6 3359 2047 1921 2143 92.5 10.7 308 2874 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 2047 2031 1921 2142 0 0 0 0 0 0 26.73 26.74 26.74 8.13 19.56

2993 0.97 194.6 3358 2047 1921 2143 80.8 10.2 320 3003 0.00 2.28 0.00 0.000 516 0.000 0.084 3368 1185 2031 1920 2143 0 0 0 0 0 0 26.83 26.52 26.84 8.12 19.79

3047 0.90 194.6 3367 1185 1921 2143 75.5 10.3 325 3056 0.15 2.20 0.00 0.000 5126 0.151 0.065 3320 2051 2032 1921 2143 0 0 0 0 0 0 26.48 26.62 26.63 8.12 19.67

3175 0.90 194.6 3319 2051 1921 2143 64.2 8.2 338 3179 0.00 2.28 0.00 0.000 516 0.000 0.082 3327 1185 2032 1921 2143 0 0 0 0 0 0 26.94 26.63 26.95 8.12 19.99

3270 0.90 194.6 3327 1185 1921 2143 56.2 8.3 347 3274 0.00 2.15 0.00 0.000 1030 0.000 0.065 3327 2047 2032 1921 2143 0 0 0 0 0 0 26.79 26.73 26.80 8.12 19.60

3396 0.90 194.6 3327 2047 1921 2143 44.8 8.6 359 3397 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2047 2032 1921 2143 0 0 0 0 0 0 27.04 27.05 27.05 8.12 19.44

3516 0.90 194.6 3327 2047 1920 2143 35.4 7.7 371 3520 0.00 2.25 0.00 0.000 516 0.000 0.084 3336 1185 2032 1921 2143 0 0 0 0 0 0 27.08 26.76 27.09 8.12 20.23

3645 0.90 194.6 3335 1185 1921 2143 25.3 7.9 383 3652 0.00 2.15 0.00 0.000 1030 0.000 0.065 3336 2051 2032 1921 2143 0 0 0 0 0 0 26.92 26.86 26.94 8.11 19.60

3774 0.90 194.6 3335 2051 1921 2143 15.0 7.8 402 3780 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2051 2031 1921 2142 0 0 0 0 0 0 27.15 27.16 27.16 8.12 20.23

3842 0.90 194.6 3335 2051 1921 2143 9.8 7.8 415 3849 0.00 2.28 0.00 0.000 516 0.000 0.082 3345 1181 2031 1921 2142 0 0 0 0 0 0 27.16 26.84 27.17 8.11 19.67

3891 0.90 194.6 3344 1181 1920 2143 6.3 7.6 424 3898 0.00 2.15 0.00 0.000 1030 0.000 0.065 3344 2049 2032 1921 2143 0 0 0 0 0 0 26.97 26.91 26.99 8.12 19.67

3960 0.90 194.6 3344 2048 1920 2142 2.3 5.4 437 3967 0.00 2.20 0.00 0.000 260 0.000 0.074 3345 2914 2031 1920 2143 0 0 0 0 0 0 27.19 26.89 27.20 8.12 19.87

3972 end climb: SURFACE_DEPTH_REACHED

state 3972 begin surface coast

3998 end surface coast: CONTROL_FINISHED_OK

state 3998 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	20	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	32	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	100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.188646,-0.189624
_SM_DEPTHo	1.62	KALMAN_X	12205.858398,363.629578,-722.488770,-12486.862305,1576.864380
_SM_ANGLEo	-55.8	KALMAN_Y	-2662.883057,-3008.931641,1370.940918,5602.249512,-552.461914
GPS2	100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4	MHEAD_RNG_PITCHd_Wd	158.2,1965,-11.8,-7.500,-15.66,3954
SPEED_LIMITS	0.130,0.267	D_GRID	180

FINISH	0.7,1.011420	_24V_AH	24.46,6.078
SM_CCo	4016,145.32,0.941,0,0,1325,400.02	_10V_AH	10.43,4.723
SM_GC	1.66,8.40,2.17,145.32,0.077,0.062,0.941,186,2042,1325,-8.80,1.59,400.02,0,0,1,0,0,0,26.89,26.91,24.74	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.02,-12222.38,100419,094655	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.170023	MEM	312608
HUMID	19.64	DATA_FILE_SIZE	27839,444
INTERNAL_PRESSURE	8.02846	CAP_FILE_SIZE	70223,0
TCM_TEMP	8.90	CFSIZE	2046525440,2041315328
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
ALTIM_TOP_PING	19.8,19.3	GPS	100419,122323,4743.477,-12224.565,5,1.0,17,16.3,0.0,0.0,8,9.8
ALTIM_BOTTOM_PING	80.1,81.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	132.48	SBE_CT	300	23	170.65
Roll_motor	39	84	82.34	AA4330	576	31	443.58
VBD_pump_during_apogee	279	1040	7122.79	nil	0	0	0.00
VBD_pump_during_surface	145	941	3345.13	nil	0	0	0.00
VBD_valve	191	156	733.88	nil	0	0	0.00
Iridium_during_init	22	34	18.86	nil	0	0	0.00
Iridium_during_connect	35	160	139.15	nil	0	0	0.00
Iridium_during_xfer	250	223	1364.56	nil	0	0	0.00
Transponder_ping	0	420	7.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	13	2.02
TT8	1140	11	136.40
LPSleep	1670	2	38.16
TT8_Active	627	11	75.05
TT8_Sampling	1092	35	403.80
TT8_CF8	44	56	26.35
TT8_Kalman	33	57	20.18
Analog_circuits	1085	11	124.52
GPS_charging	0	0	0.00
Compass	753	7	58.88
RAFOS	0	0	0.00
Transponder	8	30	2.52

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	187	2052	1231	1419	0.0	0.0	0	172	0.00	0.00	-161.82	0.144	16386	0.000	0.000	187	2052	2933	2838	3028	0	0	0	0	0	0	26.58	28.83	26.59	8.06	19.64
174	-1.18	-194.6	186	2052	2838	3028	3.1	-2.7	27	218	9.82	0.00	-29.98	0.156	18950	0.261	0.000	2641	2052	3374	3257	3492	0	0	0	0	0	0	25.96	26.20	26.06	8.21	19.52
281	-1.05	-194.6	2641	2052	3257	3492	15.1	-14.1	46	288	0.12	2.25	0.00	0.000	2308	0.191	0.074	2675	2913	3374	3256	3492	0	0	0	0	0	0	26.18	26.29	26.27	8.25	19.44
368	-0.96	-194.6	2674	2913	3256	3492	23.5	-8.9	59	376	0.12	2.17	0.00	0.000	3078	0.181	0.062	2712	2044	3374	3257	3492	0	0	0	0	0	0	26.29	26.44	26.43	8.25	19.56
496	-0.90	-194.6	2711	2044	3256	3492	34.5	-9.1	72	497	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2044	3374	3257	3492	0	0	0	0	0	0	26.82	26.84	26.84	8.25	19.16
616	-0.84	-194.6	2711	2044	3257	3492	44.5	-8.7	84	618	0.12	0.00	0.00	0.000	2054	0.179	0.000	2751	2044	3374	3257	3492	0	0	0	0	0	0	26.52	26.68	26.64	8.24	19.01
735	-0.84	-194.6	2751	2044	3256	3492	52.9	-6.8	96	736	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2044	3374	3256	3492	0	0	0	0	0	0	26.97	26.98	26.98	8.24	19.28
855	-0.84	-194.6	2751	2044	3257	3492	61.3	-8.1	108	856	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2044	3374	3256	3492	0	0	0	0	0	0	27.02	27.04	27.04	8.24	19.28
975	-0.84	-194.6	2751	2043	3256	3492	69.6	-6.9	120	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2044	3374	3256	3492	0	0	0	0	0	0	27.07	27.09	27.08	8.23	19.28
1095	-0.84	-194.6	2750	2044	3256	3492	78.3	-7.0	132	1099	0.00	2.22	0.00	0.000	516	0.000	0.082	2751	1185	3374	3256	3492	0	0	0	0	0	0	27.11	26.79	27.13	8.24	19.36
1216	-0.84	-194.6	2751	1186	3256	3492	86.8	-7.7	143	1224	0.00	2.17	0.00	0.000	1030	0.000	0.065	2751	2048	3374	3256	3492	0	0	0	0	0	0	26.91	26.88	26.93	8.23	19.75
1344	-0.84	-194.6	2751	2048	3256	3492	95.6	-6.6	156	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2048	3374	3256	3492	0	0	0	0	0	0	27.17	27.18	27.18	8.23	19.44
1464	-0.84	-194.6	2751	2048	3256	3492	103.8	-6.8	168	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2048	3374	3256	3492	0	0	0	0	0	0	27.20	27.21	27.20	8.23	19.71
1584	-0.84	-194.6	2751	2048	3256	3492	110.7	-5.7	180	1585	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2048	3374	3256	3492	0	0	0	0	0	0	27.22	27.23	27.23	8.23	19.16
1704	-0.84	-194.6	2751	2048	3256	3492	118.8	-6.8	192	1708	0.00	2.25	0.00	0.000	516	0.000	0.082	2752	1184	3374	3256	3492	0	0	0	0	0	0	27.24	26.91	27.25	8.23	19.71
1800	-0.84	-194.6	2751	1184	3257	3492	126.1	-7.9	201	1804	0.00	2.15	0.00	0.000	1030	0.000	0.067	2752	2050	3374	3256	3492	0	0	0	0	0	0	27.05	26.98	27.06	8.23	19.48
1931	-0.84	-194.6	2751	2051	3256	3491	135.7	-6.8	214	1932	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2051	3374	3256	3492	0	0	0	0	0	0	27.27	27.29	27.28	8.23	19.79
2051	-0.84	-194.6	2751	2051	3256	3492	143.5	-5.8	226	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2051	3374	3256	3492	0	0	0	0	0	0	27.28	27.30	27.29	8.23	19.87
2120	end dive: BOTTOM_OBSTACLE_DETECTED
state	2120	begin apogee
2123	-0.40	0.0	2751	2051	3256	3492	147.0	-5.3	233	2271	0.45	0.00	139.23	1.040	10246	0.146	0.000	2900	2051	2702	2590	2815	0	0	0	0	0	0	26.89	25.22	24.64	8.23	19.67
2272	end apogee: CONTROL_FINISHED_OK
state	2272	begin climb
2273	1.18	194.6	2900	2051	2590	2815	149.9	0.0	248	2422	1.48	0.00	140.68	0.976	10246	0.124	0.000	3386	2051	2031	1920	2142	0	0	0	0	0	0	25.39	25.03	24.46	8.18	19.20
2541	1.10	194.6	3385	2051	1921	2143	125.5	12.0	275	2542	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	2051	2032	1921	2143	0	0	0	0	0	0	26.19	26.20	26.20	8.13	18.85
2661	1.02	194.6	3385	2051	1921	2143	113.3	10.2	287	2671	0.10	2.33	0.00	0.000	4612	0.176	0.082	3359	1185	2031	1921	2142	0	0	0	0	0	0	26.12	26.17	26.19	8.12	19.36
2745	1.02	194.6	3359	1185	1921	2143	105.8	8.6	295	2753	0.00	2.22	0.00	0.000	1030	0.000	0.065	3359	2046	2032	1921	2143	0	0	0	0	0	0	26.41	26.35	26.39	8.12	19.24
2873	1.02	194.6	3359	2047	1921	2143	92.5	10.7	308	2874	0.00	0.00	0.00	0.000	6	0.000	0.000	3359	2047	2031	1921	2142	0	0	0	0	0	0	26.73	26.74	26.74	8.13	19.56
2993	0.97	194.6	3358	2047	1921	2143	80.8	10.2	320	3003	0.00	2.28	0.00	0.000	516	0.000	0.084	3368	1185	2031	1920	2143	0	0	0	0	0	0	26.83	26.52	26.84	8.12	19.79
3047	0.90	194.6	3367	1185	1921	2143	75.5	10.3	325	3056	0.15	2.20	0.00	0.000	5126	0.151	0.065	3320	2051	2032	1921	2143	0	0	0	0	0	0	26.48	26.62	26.63	8.12	19.67
3175	0.90	194.6	3319	2051	1921	2143	64.2	8.2	338	3179	0.00	2.28	0.00	0.000	516	0.000	0.082	3327	1185	2032	1921	2143	0	0	0	0	0	0	26.94	26.63	26.95	8.12	19.99
3270	0.90	194.6	3327	1185	1921	2143	56.2	8.3	347	3274	0.00	2.15	0.00	0.000	1030	0.000	0.065	3327	2047	2032	1921	2143	0	0	0	0	0	0	26.79	26.73	26.80	8.12	19.60
3396	0.90	194.6	3327	2047	1921	2143	44.8	8.6	359	3397	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2047	2032	1921	2143	0	0	0	0	0	0	27.04	27.05	27.05	8.12	19.44
3516	0.90	194.6	3327	2047	1920	2143	35.4	7.7	371	3520	0.00	2.25	0.00	0.000	516	0.000	0.084	3336	1185	2032	1921	2143	0	0	0	0	0	0	27.08	26.76	27.09	8.12	20.23
3645	0.90	194.6	3335	1185	1921	2143	25.3	7.9	383	3652	0.00	2.15	0.00	0.000	1030	0.000	0.065	3336	2051	2032	1921	2143	0	0	0	0	0	0	26.92	26.86	26.94	8.11	19.60
3774	0.90	194.6	3335	2051	1921	2143	15.0	7.8	402	3780	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2051	2031	1921	2142	0	0	0	0	0	0	27.15	27.16	27.16	8.12	20.23
3842	0.90	194.6	3335	2051	1921	2143	9.8	7.8	415	3849	0.00	2.28	0.00	0.000	516	0.000	0.082	3345	1181	2031	1921	2142	0	0	0	0	0	0	27.16	26.84	27.17	8.11	19.67
3891	0.90	194.6	3344	1181	1920	2143	6.3	7.6	424	3898	0.00	2.15	0.00	0.000	1030	0.000	0.065	3344	2049	2032	1921	2143	0	0	0	0	0	0	26.97	26.91	26.99	8.12	19.67
3960	0.90	194.6	3344	2048	1920	2142	2.3	5.4	437	3967	0.00	2.20	0.00	0.000	260	0.000	0.074	3345	2914	2031	1920	2143	0	0	0	0	0	0	27.19	26.89	27.20	8.12	19.87
3972	end climb: SURFACE_DEPTH_REACHED
state	3972	begin surface coast
3998	end surface coast: CONTROL_FINISHED_OK
state	3998	begin surface