Glider dive log

Shilshole 09Apr19 * SG039 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 39 HD_B 0.013 ROLL_MAX 3845 ALTIM_BOTTOM_PING_RANGE 0

MISSION 28 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 21 HEADING -1 C_ROLL_DIVE 2079 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2079 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 76 ALTIM_FREQUENCY 11

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 44 ALTIM_PULSE 5

D_NO_BLEED 50 SM_CC 400 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 1

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 140 INT_PRESSURE_YINT -2.5

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2000 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 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 0.00026999999 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 3 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 60 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 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 150 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3910 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2870 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0044170879

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00064670271

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.5769914e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1384129e-06

RHO 1.0275 PITCH_GAIN 13.5 PHONE_SUPPLY 2 SEABIRD_C_G -10.057268

MASS 78557 PITCH_TIMEOUT 20 PRESSURE_YINT -22.48057 SEABIRD_C_H 1.1616307

MASS_COMP 9201.2998 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0015180854

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00020613552

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2945.8

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 245 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 5 PITCH_ADJ_GAIN 0.02 SM_CC 400

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 160 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 11 FERRY_MAX 45 PITCH_GAIN 13.5 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00026999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -22.48057 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 -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 39 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 -2.5 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 60

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_PITCH 2870 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2079 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2079 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2000 MASS 78557 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 9201.2998 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3845 VBD_BLEED_AD_RATE 3

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 245 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 76 VBD_MAX 3900

DEVICE5 -1 MISSION 28 R_STBD_OVSHOOT 44 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.057268 VBD_MIN 140

DIVE 21 NAV_MODE 0 SEABIRD_C_H 1.1616307 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0015180854 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00020613552 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2945.8 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0044170879 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00064670271 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.5769914e-05 XPDR_VALID 1

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1384129e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 100419,153238,4743.2861,-12224.4854,2,1.0,17,16.3,0.3,110.3,8,4.8 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.17 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -58.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 100419,153920,4743.2759,-12224.3955,9,0.9,19,16.3,0.3,78.8,9,5.0 MHEAD_RNG_PITCHd_Wd 340.4,2271,-12.2,-7.500,-16.14,4871

SPEED_LIMITS 0.130,0.259 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.2,1.000716 _24V_AH 24.10,4.307

SM_CCo 4307,48.30,0.929,0,0,623,400.00 _10V_AH 10.53,4.725

SM_GC 1.11,7.75,0.00,48.30,0.072,0.000,0.929,155,2088,623,-8.41,0.25,400.00,0,0,0,0,0,0,26.65,26.93,25.22 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,100419,142912 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.196238 MEM 273776

HUMID 12.31 DATA_FILE_SIZE 31426,478

INTERNAL_PRESSURE 8.184 CAP_FILE_SIZE 72881,0

TCM_TEMP 9.80 CFSIZE 2047311872,2037514240

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

ALTIM_TOP_PING 19.9,19.8 WARN PPS timeout

ALTIM_BOTTOM_PING 101.0,89.1 GPS 100419,165359,4743.938,-12224.583,36,1.0,40,16.3,0.0,84.8,9,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 253 115.51 SBE_CT 319 23 179.04

Roll_motor 51 79 98.09 AA4330 628 13 204.31

VBD_pump_during_apogee 435 1072 11260.05 nil 0 0 0.00

VBD_pump_during_surface 48 928 1080.97 nil 0 0 0.00

VBD_valve 280 156 1057.66 nil 0 0 0.00

Iridium_during_init 25 12 7.62 nil 0 0 0.00

Iridium_during_connect 18 160 70.43 nil 0 0 0.00

Iridium_during_xfer 251 223 1354.11 nil 0 0 0.00

Transponder_ping 1 420 12.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 29 8.19

TT8 1151 11 142.08

LPSleep 1614 2 37.23

TT8_Active 733 11 90.49

TT8_Sampling 1186 35 446.00

TT8_CF8 101 44 47.56

TT8_Kalman 0 0 0.00

Analog_circuits 1291 10 136.00

GPS_charging 0 0 0.00

Compass 846 8 73.45

RAFOS 0 0 0.00

Transponder 9 30 3.03

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

71 -0.97 -243.3 137 2093 541 703 1.2 -0.0 12 303 0.00 0.00 -225.32 0.151 16386 0.000 0.000 138 2093 2070 2029 2112 0 0 0 0 0 0 26.46 28.83 26.47 8.23 12.94

305 -0.97 -243.3 137 2093 2030 2112 3.4 -5.8 50 380 8.95 2.42 -55.22 0.156 18948 0.253 0.070 2552 523 2839 2804 2874 0 0 0 0 0 0 25.84 26.00 25.89 8.37 12.47

514 -0.80 -243.3 2551 523 2805 2874 34.1 -17.1 80 524 0.22 2.33 0.00 0.000 3078 0.179 0.062 2614 2104 2839 2804 2874 0 0 0 0 0 0 26.13 26.26 26.25 8.45 12.31

644 -0.72 -243.3 2613 2103 2804 2874 51.6 -12.7 93 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2103 2839 2804 2874 0 0 0 0 0 0 26.61 26.63 26.63 8.44 12.70

764 -0.64 -243.3 2611 2103 2804 2874 66.2 -12.2 105 774 0.12 2.38 0.00 0.000 2564 0.186 0.067 2659 521 2839 2804 2874 0 0 0 0 0 0 26.37 26.46 26.44 8.44 11.72

880 -0.64 -243.3 2659 521 2804 2874 78.9 -11.5 116 887 0.00 2.28 0.00 0.000 1030 0.000 0.062 2651 2084 2839 2804 2874 0 0 0 0 0 0 26.60 26.55 26.62 8.44 12.70

1007 -0.64 -243.3 2650 2084 2805 2874 93.4 -11.3 129 1016 0.00 2.35 0.00 0.000 516 0.000 0.070 2651 508 2839 2804 2874 0 0 0 0 0 0 26.83 26.58 26.84 8.44 12.35

1061 -0.64 -243.3 2650 508 2804 2873 99.8 -12.4 134 1073 0.00 2.30 0.00 0.000 1030 0.000 0.062 2642 2077 2839 2804 2874 0 0 0 0 0 0 26.65 26.63 26.67 8.44 12.63

1192 -0.64 -243.3 2641 2077 2805 2874 117.9 -14.3 147 1193 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2076 2839 2805 2873 0 0 0 0 0 0 26.89 26.91 26.91 8.44 12.59

1311 -0.64 -243.3 2641 2076 2804 2874 131.0 -10.2 159 1320 0.00 2.33 0.00 0.000 516 0.000 0.070 2642 512 2839 2804 2874 0 0 0 0 0 0 26.94 26.69 26.94 8.45 12.82

1376 -0.59 -243.3 2642 511 2805 2873 137.8 -10.9 165 1384 0.15 2.28 0.00 0.000 3078 0.171 0.062 2684 2087 2839 2805 2874 0 0 0 0 0 0 26.62 26.72 26.72 8.44 12.47

1503 -0.59 -243.3 2683 2087 2804 2874 149.9 -8.7 178 1504 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2087 2839 2805 2874 0 0 0 0 0 0 26.98 27.00 26.99 8.45 12.11

1623 -0.59 -243.3 2684 2087 2805 2874 160.3 -7.8 190 1627 0.00 2.33 0.00 0.000 516 0.000 0.070 2684 514 2839 2805 2874 0 0 0 0 0 0 27.01 26.76 27.02 8.44 12.47

1677 -0.59 -243.3 2683 514 2805 2874 165.0 -9.2 195 1684 0.00 2.28 0.00 0.000 1030 0.000 0.062 2679 2080 2839 2804 2874 0 0 0 0 0 0 26.84 26.79 26.86 8.44 12.51

1793 end dive: BOTTOM_OBSTACLE_DETECTED

state 1793 begin apogee

1797 -0.37 0.0 2679 2079 2804 2873 175.9 -9.0 207 1978 0.17 0.00 176.18 1.073 10246 0.164 0.000 2748 2079 1999 1949 2050 0 0 0 0 0 0 26.72 24.77 24.19 8.44 12.59

1979 end apogee: CONTROL_FINISHED_OK

state 1979 begin climb

1981 0.97 243.3 2747 2079 1949 2050 185.9 0.0 225 2177 1.23 2.55 183.73 0.991 10500 0.124 0.079 3164 3644 1161 1110 1212 0 0 0 0 0 0 24.87 24.52 24.10 8.37 12.39

2300 0.88 243.3 3164 3644 1107 1212 159.4 12.5 257 2309 0.00 2.35 0.00 0.000 1030 0.000 0.060 3172 2079 1159 1107 1212 0 0 0 0 0 0 25.76 25.71 25.77 8.29 11.88

2430 0.81 243.3 3171 2080 1107 1212 145.1 10.4 270 2432 0.12 0.00 0.00 0.000 4102 0.179 0.000 3134 2079 1159 1107 1212 0 0 0 0 0 0 25.90 26.04 26.01 8.29 12.67

2549 0.81 243.3 3133 2079 1106 1212 134.8 8.4 282 2559 0.00 2.35 0.00 0.000 516 0.000 0.072 3144 514 1159 1107 1211 0 0 0 0 0 0 26.41 26.17 26.43 8.29 12.23

2611 0.81 243.3 3142 513 1107 1210 130.0 8.1 288 2615 0.00 2.30 0.00 0.000 1030 0.000 0.062 3143 2085 1159 1109 1210 0 0 0 0 0 0 26.32 26.27 26.34 8.29 12.15

2743 0.81 243.3 3143 2085 1107 1210 119.7 8.2 301 2744 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2086 1158 1107 1210 0 0 0 0 0 0 26.60 26.62 26.62 8.29 12.47

2863 0.81 243.3 3143 2085 1107 1210 110.1 7.7 313 2864 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2085 1158 1107 1210 0 0 0 0 0 0 26.70 26.70 26.70 8.28 12.43

2982 0.81 243.3 3143 2085 1107 1210 99.7 8.2 325 2987 0.00 2.35 0.00 0.000 260 0.000 0.074 3143 3643 1158 1107 1210 0 0 0 0 0 0 26.76 26.51 26.77 8.29 12.35

3067 0.75 243.3 3143 3645 1107 1210 92.2 9.0 333 3075 0.12 2.28 0.00 0.000 5126 0.184 0.060 3110 2070 1158 1107 1210 0 0 0 0 0 0 26.46 26.59 26.58 8.29 12.51

3195 0.77 338.6 3109 2070 1107 1210 84.6 5.5 346 3275 0.00 0.00 75.68 0.993 8710 0.000 0.000 3110 2070 834 765 904 0 0 0 0 0 0 26.85 25.27 24.72 8.29 12.15

3394 0.77 338.6 3110 2069 764 901 70.9 8.0 366 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2070 833 764 902 0 0 0 0 0 0 26.14 26.16 26.15 8.26 12.86

3514 0.77 338.6 3109 2070 764 901 60.8 8.0 378 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2070 832 764 901 0 0 0 0 0 0 26.39 26.41 26.39 8.25 11.88

3634 0.77 338.6 3109 2070 764 901 51.1 7.5 390 3644 0.00 2.33 0.00 0.000 516 0.000 0.070 3118 522 831 763 900 0 0 0 0 0 0 26.54 26.29 26.55 8.25 12.94

3697 0.83 338.6 3117 521 764 899 46.0 8.5 396 3706 0.00 2.28 0.00 0.000 1030 0.000 0.062 3118 2078 831 764 899 0 0 0 0 0 0 26.44 26.39 26.45 8.25 12.31

3826 0.83 338.6 3117 2078 764 899 36.3 7.3 409 3835 0.00 2.35 0.00 0.000 260 0.000 0.074 3118 3640 831 764 899 0 0 0 0 0 0 26.70 26.45 26.71 8.25 13.02

3889 0.83 338.6 3117 3640 764 899 31.2 8.5 415 3898 0.00 2.25 0.00 0.000 1030 0.000 0.062 3118 2078 831 764 899 0 0 0 0 0 0 26.55 26.53 26.57 8.25 12.47

4018 0.83 338.6 3117 2078 764 899 21.3 7.8 428 4027 0.00 2.33 0.00 0.000 516 0.000 0.072 3119 511 831 764 899 0 0 0 0 0 0 26.81 26.56 26.82 8.25 12.23

4112 0.91 338.6 3118 511 763 899 14.9 6.8 444 4120 0.08 2.28 0.00 0.000 3078 0.154 0.062 3169 2088 831 764 899 0 0 0 0 0 0 26.57 26.63 26.65 8.25 12.35

4183 0.91 338.6 3168 2087 765 899 9.0 8.6 457 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 2087 832 765 899 0 0 0 0 0 0 26.87 26.89 26.88 8.24 12.11

4229 end climb: SURFACE_DEPTH_REACHED

state 4230 begin surface coast

4291 end surface coast: CONTROL_FINISHED_OK

state 4292 begin surface

ID	39	HD_B	0.013	ROLL_MAX	3845	ALTIM_BOTTOM_PING_RANGE	0
MISSION	28	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	21	HEADING	-1	C_ROLL_DIVE	2079	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2079	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	76	ALTIM_FREQUENCY	11
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	44	ALTIM_PULSE	5
D_NO_BLEED	50	SM_CC	400	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	1
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	140	INT_PRESSURE_YINT	-2.5
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2000	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	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	0.00026999999	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	3	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	60	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	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	150	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3910	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2870	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0044170879
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00064670271
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.5769914e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1384129e-06
RHO	1.0275	PITCH_GAIN	13.5	PHONE_SUPPLY	2	SEABIRD_C_G	-10.057268
MASS	78557	PITCH_TIMEOUT	20	PRESSURE_YINT	-22.48057	SEABIRD_C_H	1.1616307
MASS_COMP	9201.2998	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0015180854
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00020613552
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2945.8
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	245	COMPASS_USE	4

GPS1	100419,153238,4743.2861,-12224.4854,2,1.0,17,16.3,0.3,110.3,8,4.8	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.17	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-58.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	100419,153920,4743.2759,-12224.3955,9,0.9,19,16.3,0.3,78.8,9,5.0	MHEAD_RNG_PITCHd_Wd	340.4,2271,-12.2,-7.500,-16.14,4871
SPEED_LIMITS	0.130,0.259	D_GRID	180

FINISH	0.2,1.000716	_24V_AH	24.10,4.307
SM_CCo	4307,48.30,0.929,0,0,623,400.00	_10V_AH	10.53,4.725
SM_GC	1.11,7.75,0.00,48.30,0.072,0.000,0.929,155,2088,623,-8.41,0.25,400.00,0,0,0,0,0,0,26.65,26.93,25.22	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,100419,142912	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.196238	MEM	273776
HUMID	12.31	DATA_FILE_SIZE	31426,478
INTERNAL_PRESSURE	8.184	CAP_FILE_SIZE	72881,0
TCM_TEMP	9.80	CFSIZE	2047311872,2037514240
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.9,19.8	WARN	PPS timeout
ALTIM_BOTTOM_PING	101.0,89.1	GPS	100419,165359,4743.938,-12224.583,36,1.0,40,16.3,0.0,84.8,9,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	253	115.51	SBE_CT	319	23	179.04
Roll_motor	51	79	98.09	AA4330	628	13	204.31
VBD_pump_during_apogee	435	1072	11260.05	nil	0	0	0.00
VBD_pump_during_surface	48	928	1080.97	nil	0	0	0.00
VBD_valve	280	156	1057.66	nil	0	0	0.00
Iridium_during_init	25	12	7.62	nil	0	0	0.00
Iridium_during_connect	18	160	70.43	nil	0	0	0.00
Iridium_during_xfer	251	223	1354.11	nil	0	0	0.00
Transponder_ping	1	420	12.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	29	8.19
TT8	1151	11	142.08
LPSleep	1614	2	37.23
TT8_Active	733	11	90.49
TT8_Sampling	1186	35	446.00
TT8_CF8	101	44	47.56
TT8_Kalman	0	0	0.00
Analog_circuits	1291	10	136.00
GPS_charging	0	0	0.00
Compass	846	8	73.45
RAFOS	0	0	0.00
Transponder	9	30	3.03

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
71	-0.97	-243.3	137	2093	541	703	1.2	-0.0	12	303	0.00	0.00	-225.32	0.151	16386	0.000	0.000	138	2093	2070	2029	2112	0	0	0	0	0	0	26.46	28.83	26.47	8.23	12.94
305	-0.97	-243.3	137	2093	2030	2112	3.4	-5.8	50	380	8.95	2.42	-55.22	0.156	18948	0.253	0.070	2552	523	2839	2804	2874	0	0	0	0	0	0	25.84	26.00	25.89	8.37	12.47
514	-0.80	-243.3	2551	523	2805	2874	34.1	-17.1	80	524	0.22	2.33	0.00	0.000	3078	0.179	0.062	2614	2104	2839	2804	2874	0	0	0	0	0	0	26.13	26.26	26.25	8.45	12.31
644	-0.72	-243.3	2613	2103	2804	2874	51.6	-12.7	93	645	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2103	2839	2804	2874	0	0	0	0	0	0	26.61	26.63	26.63	8.44	12.70
764	-0.64	-243.3	2611	2103	2804	2874	66.2	-12.2	105	774	0.12	2.38	0.00	0.000	2564	0.186	0.067	2659	521	2839	2804	2874	0	0	0	0	0	0	26.37	26.46	26.44	8.44	11.72
880	-0.64	-243.3	2659	521	2804	2874	78.9	-11.5	116	887	0.00	2.28	0.00	0.000	1030	0.000	0.062	2651	2084	2839	2804	2874	0	0	0	0	0	0	26.60	26.55	26.62	8.44	12.70
1007	-0.64	-243.3	2650	2084	2805	2874	93.4	-11.3	129	1016	0.00	2.35	0.00	0.000	516	0.000	0.070	2651	508	2839	2804	2874	0	0	0	0	0	0	26.83	26.58	26.84	8.44	12.35
1061	-0.64	-243.3	2650	508	2804	2873	99.8	-12.4	134	1073	0.00	2.30	0.00	0.000	1030	0.000	0.062	2642	2077	2839	2804	2874	0	0	0	0	0	0	26.65	26.63	26.67	8.44	12.63
1192	-0.64	-243.3	2641	2077	2805	2874	117.9	-14.3	147	1193	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2076	2839	2805	2873	0	0	0	0	0	0	26.89	26.91	26.91	8.44	12.59
1311	-0.64	-243.3	2641	2076	2804	2874	131.0	-10.2	159	1320	0.00	2.33	0.00	0.000	516	0.000	0.070	2642	512	2839	2804	2874	0	0	0	0	0	0	26.94	26.69	26.94	8.45	12.82
1376	-0.59	-243.3	2642	511	2805	2873	137.8	-10.9	165	1384	0.15	2.28	0.00	0.000	3078	0.171	0.062	2684	2087	2839	2805	2874	0	0	0	0	0	0	26.62	26.72	26.72	8.44	12.47
1503	-0.59	-243.3	2683	2087	2804	2874	149.9	-8.7	178	1504	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2087	2839	2805	2874	0	0	0	0	0	0	26.98	27.00	26.99	8.45	12.11
1623	-0.59	-243.3	2684	2087	2805	2874	160.3	-7.8	190	1627	0.00	2.33	0.00	0.000	516	0.000	0.070	2684	514	2839	2805	2874	0	0	0	0	0	0	27.01	26.76	27.02	8.44	12.47
1677	-0.59	-243.3	2683	514	2805	2874	165.0	-9.2	195	1684	0.00	2.28	0.00	0.000	1030	0.000	0.062	2679	2080	2839	2804	2874	0	0	0	0	0	0	26.84	26.79	26.86	8.44	12.51
1793	end dive: BOTTOM_OBSTACLE_DETECTED
state	1793	begin apogee
1797	-0.37	0.0	2679	2079	2804	2873	175.9	-9.0	207	1978	0.17	0.00	176.18	1.073	10246	0.164	0.000	2748	2079	1999	1949	2050	0	0	0	0	0	0	26.72	24.77	24.19	8.44	12.59
1979	end apogee: CONTROL_FINISHED_OK
state	1979	begin climb
1981	0.97	243.3	2747	2079	1949	2050	185.9	0.0	225	2177	1.23	2.55	183.73	0.991	10500	0.124	0.079	3164	3644	1161	1110	1212	0	0	0	0	0	0	24.87	24.52	24.10	8.37	12.39
2300	0.88	243.3	3164	3644	1107	1212	159.4	12.5	257	2309	0.00	2.35	0.00	0.000	1030	0.000	0.060	3172	2079	1159	1107	1212	0	0	0	0	0	0	25.76	25.71	25.77	8.29	11.88
2430	0.81	243.3	3171	2080	1107	1212	145.1	10.4	270	2432	0.12	0.00	0.00	0.000	4102	0.179	0.000	3134	2079	1159	1107	1212	0	0	0	0	0	0	25.90	26.04	26.01	8.29	12.67
2549	0.81	243.3	3133	2079	1106	1212	134.8	8.4	282	2559	0.00	2.35	0.00	0.000	516	0.000	0.072	3144	514	1159	1107	1211	0	0	0	0	0	0	26.41	26.17	26.43	8.29	12.23
2611	0.81	243.3	3142	513	1107	1210	130.0	8.1	288	2615	0.00	2.30	0.00	0.000	1030	0.000	0.062	3143	2085	1159	1109	1210	0	0	0	0	0	0	26.32	26.27	26.34	8.29	12.15
2743	0.81	243.3	3143	2085	1107	1210	119.7	8.2	301	2744	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2086	1158	1107	1210	0	0	0	0	0	0	26.60	26.62	26.62	8.29	12.47
2863	0.81	243.3	3143	2085	1107	1210	110.1	7.7	313	2864	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2085	1158	1107	1210	0	0	0	0	0	0	26.70	26.70	26.70	8.28	12.43
2982	0.81	243.3	3143	2085	1107	1210	99.7	8.2	325	2987	0.00	2.35	0.00	0.000	260	0.000	0.074	3143	3643	1158	1107	1210	0	0	0	0	0	0	26.76	26.51	26.77	8.29	12.35
3067	0.75	243.3	3143	3645	1107	1210	92.2	9.0	333	3075	0.12	2.28	0.00	0.000	5126	0.184	0.060	3110	2070	1158	1107	1210	0	0	0	0	0	0	26.46	26.59	26.58	8.29	12.51
3195	0.77	338.6	3109	2070	1107	1210	84.6	5.5	346	3275	0.00	0.00	75.68	0.993	8710	0.000	0.000	3110	2070	834	765	904	0	0	0	0	0	0	26.85	25.27	24.72	8.29	12.15
3394	0.77	338.6	3110	2069	764	901	70.9	8.0	366	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2070	833	764	902	0	0	0	0	0	0	26.14	26.16	26.15	8.26	12.86
3514	0.77	338.6	3109	2070	764	901	60.8	8.0	378	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2070	832	764	901	0	0	0	0	0	0	26.39	26.41	26.39	8.25	11.88
3634	0.77	338.6	3109	2070	764	901	51.1	7.5	390	3644	0.00	2.33	0.00	0.000	516	0.000	0.070	3118	522	831	763	900	0	0	0	0	0	0	26.54	26.29	26.55	8.25	12.94
3697	0.83	338.6	3117	521	764	899	46.0	8.5	396	3706	0.00	2.28	0.00	0.000	1030	0.000	0.062	3118	2078	831	764	899	0	0	0	0	0	0	26.44	26.39	26.45	8.25	12.31
3826	0.83	338.6	3117	2078	764	899	36.3	7.3	409	3835	0.00	2.35	0.00	0.000	260	0.000	0.074	3118	3640	831	764	899	0	0	0	0	0	0	26.70	26.45	26.71	8.25	13.02
3889	0.83	338.6	3117	3640	764	899	31.2	8.5	415	3898	0.00	2.25	0.00	0.000	1030	0.000	0.062	3118	2078	831	764	899	0	0	0	0	0	0	26.55	26.53	26.57	8.25	12.47
4018	0.83	338.6	3117	2078	764	899	21.3	7.8	428	4027	0.00	2.33	0.00	0.000	516	0.000	0.072	3119	511	831	764	899	0	0	0	0	0	0	26.81	26.56	26.82	8.25	12.23
4112	0.91	338.6	3118	511	763	899	14.9	6.8	444	4120	0.08	2.28	0.00	0.000	3078	0.154	0.062	3169	2088	831	764	899	0	0	0	0	0	0	26.57	26.63	26.65	8.25	12.35
4183	0.91	338.6	3168	2087	765	899	9.0	8.6	457	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	2087	832	765	899	0	0	0	0	0	0	26.87	26.89	26.88	8.24	12.11
4229	end climb: SURFACE_DEPTH_REACHED
state	4230	begin surface coast
4291	end surface coast: CONTROL_FINISHED_OK
state	4292	begin surface