Glider dive log

Shilshole 30Apr19 * SG045 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 45 HD_B 0.0099999998 ROLL_MAX 3860 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 1.6100001e-05 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 11 HEADING -1 C_ROLL_DIVE 2399 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2399 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 450 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 340 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2589 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_TURN 360 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE -1 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 200 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3820 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3441 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044369884

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_T_H 0.00066042581

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.7363718e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.4006232e-06

RHO 1.023 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -10.01541

MASS 79430 PITCH_TIMEOUT 18 PRESSURE_YINT -12.236565 SEABIRD_C_H 1.1730425

MASS_COMP 10859 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0023542538

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00025774896

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.8301

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.003 ROLL_MIN 250 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 450

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 12.7 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3820 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0 T_ABORT 1440

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

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 45 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 360

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3441 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2399 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2399 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2589 MASS 79430 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 10859 ROLL_DEG 40 USE_ICE -1

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3860 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 250 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.01541 VBD_MIN 340

DIVE 11 NAV_MODE 0 SEABIRD_C_H 1.1730425 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6050 NOCOMM_ACTION 0 SEABIRD_C_I -0.0023542538 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00025774896 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.8301 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0044369884 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00066042581 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7363718e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.4006232e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010519,074829,4742.3345,-12226.2471,15,1.1,23,16.3,0.0,0.0,8,9.7 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.185829,0.215242

_SM_DEPTHo 2.11 KALMAN_X -4732.478516,-284.099243,-95.473366,2526.541748,-508.130188

_SM_ANGLEo -64.1 KALMAN_Y -7967.687012,-459.989075,-177.735168,6598.563965,-318.718292

GPS2 010519,075505,4742.2891,-12226.2686,13,0.9,17,16.3,0.0,168.6,9,9.5 MHEAD_RNG_PITCHd_Wd 12.0,4649,-9.3,-7.500,-14.78,4759

SPEED_LIMITS 0.130,0.284 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.8,1.019956 _24V_AH 24.27,4.264

SM_CCo 4573,63.20,0.656,0,0,1038,450.27 _10V_AH 10.44,1.537

SM_GC 3.09,9.60,3.70,63.20,0.084,0.074,0.656,206,2395,1038,-10.06,-0.57,450.27,0,0,1,0,0,0,25.81,25.82,24.73 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.51,-12226.80,010519,064002 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.178262 MEM 312680

HUMID 26.84 DATA_FILE_SIZE 31440,498

INTERNAL_PRESSURE 8.23274 CAP_FILE_SIZE 76765,0

TCM_TEMP 9.80 CFSIZE 2046525440,2041348096

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,3,0

ALTIM_TOP_PING 19.1,19.0 GPS 010519,091449,4742.405,-12226.465,16,1.0,37,16.3,0.2,190.0,9,8.1

ALTIM_BOTTOM_PING 100.2,103.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 280 160.20 SBE_CT 334 23 188.42

Roll_motor 95 101 236.33 AA4330 646 32 505.18

VBD_pump_during_apogee 442 789 8476.95 nil 0 0 0.00

VBD_pump_during_surface 63 655 1005.47 nil 0 0 0.00

VBD_valve 163 146 581.05 nil 0 0 0.00

Iridium_during_init 25 34 21.60 nil 0 0 0.00

Iridium_during_connect 35 160 139.11 nil 0 0 0.00

Iridium_during_xfer 246 223 1335.34 nil 0 0 0.00

Transponder_ping 1 420 10.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 14 2.73

TT8 1257 13 183.33

LPSleep 1772 2 40.52

TT8_Active 687 13 94.94

TT8_Sampling 1298 37 514.52

TT8_CF8 47 54 26.92

TT8_Kalman 33 60 21.08

Analog_circuits 1281 10 133.79

GPS_charging 0 0 0.00

Compass 935 7 73.12

RAFOS 0 0 0.00

Transponder 10 30 3.26

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.03 -244.4 204 2396 1041 1036 0.0 0.0 0 102 0.00 0.00 -91.57 0.146 16386 0.000 0.000 204 2396 2096 2086 2107 0 0 0 0 0 0 26.25 28.83 26.27 8.28 28.02

104 -1.03 -244.4 204 2396 2086 2106 3.3 -1.7 15 199 11.60 3.80 -71.85 0.146 18948 0.281 0.097 3105 998 3432 3397 3467 0 0 0 0 0 0 25.62 25.77 25.72 8.38 27.79

378 -1.03 -244.4 3105 998 3398 3467 26.3 -11.0 60 386 0.00 3.62 0.00 0.000 1030 0.000 0.074 3092 2401 3432 3398 3467 0 0 0 0 0 0 26.18 26.10 26.20 8.51 27.12

506 -1.03 -244.4 3091 2401 3398 3467 39.0 -9.4 73 507 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2401 3432 3398 3467 0 0 0 0 0 0 26.48 26.51 26.50 8.51 27.43

626 -1.03 -244.4 3091 2401 3398 3467 49.9 -9.5 85 636 0.00 3.75 0.00 0.000 516 0.000 0.097 3092 998 3432 3398 3467 0 0 0 0 0 0 26.56 26.20 26.58 8.50 27.63

831 -1.03 -244.4 3091 998 3398 3467 69.9 -9.6 105 840 0.10 3.58 0.00 0.000 3078 0.191 0.074 3109 2401 3432 3398 3467 0 0 0 0 0 0 26.25 26.36 26.39 8.51 27.04

958 -1.03 -244.4 3109 2401 3398 3467 81.2 -8.7 118 969 0.00 3.72 0.00 0.000 516 0.000 0.097 3110 998 3432 3398 3467 0 0 0 0 0 0 26.70 26.34 26.71 8.50 27.39

1101 -1.03 -244.4 3109 998 3398 3467 93.9 -9.5 132 1111 0.00 3.53 0.00 0.000 1030 0.000 0.074 3096 2392 3432 3398 3467 0 0 0 0 0 0 26.49 26.46 26.51 8.50 27.20

1232 -1.03 -244.4 3095 2392 3398 3467 105.8 -9.0 145 1242 0.00 3.70 0.00 0.000 516 0.000 0.097 3096 995 3433 3399 3467 0 0 0 0 0 0 26.77 26.39 26.78 8.50 28.14

1338 -1.03 -244.4 3095 994 3397 3467 116.2 -10.8 155 1345 0.00 3.55 0.00 0.000 1030 0.000 0.074 3081 2398 3432 3397 3467 0 0 0 0 0 0 26.58 26.50 26.60 8.50 27.51

1464 -1.03 -244.4 3081 2398 3398 3467 128.8 -9.3 168 1474 0.00 3.70 0.00 0.000 516 0.000 0.097 3081 999 3432 3398 3467 0 0 0 0 0 0 26.81 26.44 26.82 8.50 27.12

1546 -1.03 -244.4 3080 999 3397 3467 135.9 -8.9 176 1557 0.12 3.55 0.00 0.000 3078 0.186 0.074 3113 2401 3432 3398 3467 0 0 0 0 0 0 26.41 26.53 26.49 8.50 27.47

1678 -1.03 -244.4 3112 2401 3398 3467 146.4 -8.5 189 1687 0.00 3.67 0.00 0.000 516 0.000 0.097 3113 996 3432 3397 3467 0 0 0 0 0 0 26.84 26.47 26.85 8.50 27.75

1743 -1.03 -244.4 3112 996 3398 3467 152.0 -8.5 195 1750 0.00 3.55 0.00 0.000 1030 0.000 0.074 3099 2399 3432 3398 3467 0 0 0 0 0 0 26.64 26.55 26.66 8.50 27.79

1869 -1.03 -244.4 3099 2399 3397 3467 162.2 -8.3 208 1870 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2400 3432 3398 3467 0 0 0 0 0 0 26.86 26.88 26.88 8.49 27.94

1989 -1.03 -244.4 3099 2399 3397 3467 172.2 -8.5 220 1999 0.00 3.70 0.00 0.000 516 0.000 0.097 3099 998 3432 3397 3467 0 0 0 0 0 0 26.88 26.51 26.89 8.49 27.90

2080 end dive: TARGET_DEPTH_EXCEEDED

state 2080 begin apogee

2087 -0.39 0.0 3084 2399 3397 3467 180.3 -8.8 229 2272 0.62 0.00 176.57 0.790 10246 0.151 0.000 3309 2399 2588 2556 2621 0 0 0 0 0 0 26.48 24.92 24.37 8.49 27.98

2273 end apogee: CONTROL_FINISHED_OK

state 2273 begin climb

2275 1.03 244.4 3309 2399 2556 2621 187.7 0.0 248 2466 1.27 4.03 178.70 0.765 10500 0.122 0.102 3756 3802 1747 1719 1776 0 0 1 0 0 0 25.06 24.82 24.27 8.41 26.45

2555 1.03 244.4 3755 3802 1719 1776 169.2 10.7 276 2564 0.00 3.70 0.00 0.000 1030 0.000 0.077 3771 2398 1747 1719 1776 0 0 0 0 0 0 25.63 25.56 25.65 8.34 26.92

2683 1.03 244.4 3770 2398 1719 1776 156.6 9.1 289 2694 0.00 3.83 0.00 0.000 516 0.000 0.099 3785 995 1747 1719 1776 0 0 0 0 0 0 26.11 25.77 26.13 8.34 27.04

2740 1.03 244.4 3785 994 1719 1776 152.1 9.1 294 2747 0.00 3.65 0.00 0.000 1030 0.000 0.074 3786 2399 1747 1719 1776 0 0 0 0 0 0 26.01 25.93 26.03 8.34 27.00

2866 1.03 244.4 3785 2399 1719 1776 140.6 9.3 307 2867 0.00 0.00 0.00 0.000 6 0.000 0.000 3785 2399 1747 1719 1776 0 0 0 0 0 0 26.34 26.36 26.36 8.34 27.83

2986 1.03 244.4 3785 2399 1719 1776 129.7 9.3 319 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 3785 2400 1747 1719 1776 0 0 0 0 0 0 26.45 26.46 26.46 8.34 27.67

3106 1.03 244.4 3785 2399 1719 1776 118.6 9.3 331 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 3785 2399 1747 1719 1776 0 0 0 0 0 0 26.53 26.54 26.54 8.34 27.90

3226 1.03 244.4 3785 2399 1719 1776 107.5 8.7 343 3227 0.00 0.00 0.00 0.000 6 0.000 0.000 3785 2399 1747 1719 1776 0 0 0 0 0 0 26.59 26.61 26.60 8.34 27.98

3346 1.03 244.4 3785 2399 1719 1776 96.9 8.9 355 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 3785 2399 1747 1719 1776 0 0 0 0 0 0 26.65 26.66 26.66 8.34 28.42

3466 1.03 244.4 3785 2399 1719 1776 86.5 8.7 367 3476 0.00 3.72 0.00 0.000 516 0.000 0.099 3801 1001 1747 1719 1776 0 0 0 0 0 0 26.69 26.33 26.70 8.34 28.69

3590 1.03 244.4 3800 1002 1719 1776 76.0 9.1 379 3599 0.00 3.58 0.00 0.000 1030 0.000 0.077 3800 2402 1747 1719 1776 0 0 0 0 0 0 26.52 26.44 26.53 8.33 27.75

3718 1.03 244.4 3800 2402 1719 1776 65.0 8.8 392 3719 0.00 0.00 0.00 0.000 6 0.000 0.000 3800 2402 1747 1719 1775 0 0 0 0 0 0 26.76 26.77 26.77 8.33 27.79

3838 1.03 244.4 3800 2402 1719 1776 53.9 8.9 404 3848 0.00 3.72 0.00 0.000 516 0.000 0.102 3814 1000 1747 1719 1776 0 0 0 0 0 0 26.79 26.41 26.79 8.33 28.22

3900 1.03 244.4 3813 1000 1719 1776 47.6 10.7 410 3911 0.12 3.55 0.00 0.000 5126 0.186 0.074 3770 2399 1747 1719 1775 0 0 0 0 0 0 26.38 26.51 26.46 8.33 27.98

4030 1.03 244.4 3769 2399 1719 1776 37.6 7.5 423 4032 0.00 0.00 0.00 0.000 6 0.000 0.000 3770 2399 1747 1719 1776 0 0 0 0 0 0 26.82 26.83 26.82 8.33 28.34

4151 1.05 262.8 3769 2399 1719 1776 28.8 7.1 435 4172 0.00 3.78 14.48 0.643 8708 0.000 0.102 3780 998 1682 1658 1707 0 0 1 0 0 0 26.84 26.27 25.69 8.33 28.10

4237 1.05 262.8 3780 998 1658 1708 22.5 8.0 443 4245 0.00 3.58 0.00 0.000 1030 0.000 0.074 3780 2398 1683 1658 1708 0 0 0 0 0 0 26.47 26.39 26.48 8.33 28.46

4366 1.08 286.5 3780 2398 1658 1709 11.9 7.0 465 4386 0.00 0.00 18.00 0.641 8454 0.000 0.000 3781 2398 1602 1579 1625 0 0 0 0 0 0 26.72 26.09 25.56 8.33 28.02

4447 1.18 363.0 3780 2398 1578 1625 6.8 5.9 480 4511 0.08 3.83 54.60 0.660 10756 0.154 0.099 3838 999 1337 1319 1356 0 0 0 0 0 0 26.30 25.40 25.04 8.32 28.26

4522 end climb: SURFACE_DEPTH_REACHED

state 4522 begin surface coast

4553 end surface coast: CONTROL_FINISHED_OK

state 4553 begin surface

ID	45	HD_B	0.0099999998	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	1.6100001e-05	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	11	HEADING	-1	C_ROLL_DIVE	2399	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2399	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	450	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	340	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2589	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_TURN	360	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	-1	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	200	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3820	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3441	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044369884
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_T_H	0.00066042581
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.7363718e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.4006232e-06
RHO	1.023	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01541
MASS	79430	PITCH_TIMEOUT	18	PRESSURE_YINT	-12.236565	SEABIRD_C_H	1.1730425
MASS_COMP	10859	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0023542538
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00025774896
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.8301
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.003	ROLL_MIN	250	COMPASS_USE	4

GPS1	010519,074829,4742.3345,-12226.2471,15,1.1,23,16.3,0.0,0.0,8,9.7	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.185829,0.215242
_SM_DEPTHo	2.11	KALMAN_X	-4732.478516,-284.099243,-95.473366,2526.541748,-508.130188
_SM_ANGLEo	-64.1	KALMAN_Y	-7967.687012,-459.989075,-177.735168,6598.563965,-318.718292
GPS2	010519,075505,4742.2891,-12226.2686,13,0.9,17,16.3,0.0,168.6,9,9.5	MHEAD_RNG_PITCHd_Wd	12.0,4649,-9.3,-7.500,-14.78,4759
SPEED_LIMITS	0.130,0.284	D_GRID	186

FINISH	0.8,1.019956	_24V_AH	24.27,4.264
SM_CCo	4573,63.20,0.656,0,0,1038,450.27	_10V_AH	10.44,1.537
SM_GC	3.09,9.60,3.70,63.20,0.084,0.074,0.656,206,2395,1038,-10.06,-0.57,450.27,0,0,1,0,0,0,25.81,25.82,24.73	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.51,-12226.80,010519,064002	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.178262	MEM	312680
HUMID	26.84	DATA_FILE_SIZE	31440,498
INTERNAL_PRESSURE	8.23274	CAP_FILE_SIZE	76765,0
TCM_TEMP	9.80	CFSIZE	2046525440,2041348096
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,3,0
ALTIM_TOP_PING	19.1,19.0	GPS	010519,091449,4742.405,-12226.465,16,1.0,37,16.3,0.2,190.0,9,8.1
ALTIM_BOTTOM_PING	100.2,103.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	280	160.20	SBE_CT	334	23	188.42
Roll_motor	95	101	236.33	AA4330	646	32	505.18
VBD_pump_during_apogee	442	789	8476.95	nil	0	0	0.00
VBD_pump_during_surface	63	655	1005.47	nil	0	0	0.00
VBD_valve	163	146	581.05	nil	0	0	0.00
Iridium_during_init	25	34	21.60	nil	0	0	0.00
Iridium_during_connect	35	160	139.11	nil	0	0	0.00
Iridium_during_xfer	246	223	1335.34	nil	0	0	0.00
Transponder_ping	1	420	10.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	14	2.73
TT8	1257	13	183.33
LPSleep	1772	2	40.52
TT8_Active	687	13	94.94
TT8_Sampling	1298	37	514.52
TT8_CF8	47	54	26.92
TT8_Kalman	33	60	21.08
Analog_circuits	1281	10	133.79
GPS_charging	0	0	0.00
Compass	935	7	73.12
RAFOS	0	0	0.00
Transponder	10	30	3.26

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.03	-244.4	204	2396	1041	1036	0.0	0.0	0	102	0.00	0.00	-91.57	0.146	16386	0.000	0.000	204	2396	2096	2086	2107	0	0	0	0	0	0	26.25	28.83	26.27	8.28	28.02
104	-1.03	-244.4	204	2396	2086	2106	3.3	-1.7	15	199	11.60	3.80	-71.85	0.146	18948	0.281	0.097	3105	998	3432	3397	3467	0	0	0	0	0	0	25.62	25.77	25.72	8.38	27.79
378	-1.03	-244.4	3105	998	3398	3467	26.3	-11.0	60	386	0.00	3.62	0.00	0.000	1030	0.000	0.074	3092	2401	3432	3398	3467	0	0	0	0	0	0	26.18	26.10	26.20	8.51	27.12
506	-1.03	-244.4	3091	2401	3398	3467	39.0	-9.4	73	507	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2401	3432	3398	3467	0	0	0	0	0	0	26.48	26.51	26.50	8.51	27.43
626	-1.03	-244.4	3091	2401	3398	3467	49.9	-9.5	85	636	0.00	3.75	0.00	0.000	516	0.000	0.097	3092	998	3432	3398	3467	0	0	0	0	0	0	26.56	26.20	26.58	8.50	27.63
831	-1.03	-244.4	3091	998	3398	3467	69.9	-9.6	105	840	0.10	3.58	0.00	0.000	3078	0.191	0.074	3109	2401	3432	3398	3467	0	0	0	0	0	0	26.25	26.36	26.39	8.51	27.04
958	-1.03	-244.4	3109	2401	3398	3467	81.2	-8.7	118	969	0.00	3.72	0.00	0.000	516	0.000	0.097	3110	998	3432	3398	3467	0	0	0	0	0	0	26.70	26.34	26.71	8.50	27.39
1101	-1.03	-244.4	3109	998	3398	3467	93.9	-9.5	132	1111	0.00	3.53	0.00	0.000	1030	0.000	0.074	3096	2392	3432	3398	3467	0	0	0	0	0	0	26.49	26.46	26.51	8.50	27.20
1232	-1.03	-244.4	3095	2392	3398	3467	105.8	-9.0	145	1242	0.00	3.70	0.00	0.000	516	0.000	0.097	3096	995	3433	3399	3467	0	0	0	0	0	0	26.77	26.39	26.78	8.50	28.14
1338	-1.03	-244.4	3095	994	3397	3467	116.2	-10.8	155	1345	0.00	3.55	0.00	0.000	1030	0.000	0.074	3081	2398	3432	3397	3467	0	0	0	0	0	0	26.58	26.50	26.60	8.50	27.51
1464	-1.03	-244.4	3081	2398	3398	3467	128.8	-9.3	168	1474	0.00	3.70	0.00	0.000	516	0.000	0.097	3081	999	3432	3398	3467	0	0	0	0	0	0	26.81	26.44	26.82	8.50	27.12
1546	-1.03	-244.4	3080	999	3397	3467	135.9	-8.9	176	1557	0.12	3.55	0.00	0.000	3078	0.186	0.074	3113	2401	3432	3398	3467	0	0	0	0	0	0	26.41	26.53	26.49	8.50	27.47
1678	-1.03	-244.4	3112	2401	3398	3467	146.4	-8.5	189	1687	0.00	3.67	0.00	0.000	516	0.000	0.097	3113	996	3432	3397	3467	0	0	0	0	0	0	26.84	26.47	26.85	8.50	27.75
1743	-1.03	-244.4	3112	996	3398	3467	152.0	-8.5	195	1750	0.00	3.55	0.00	0.000	1030	0.000	0.074	3099	2399	3432	3398	3467	0	0	0	0	0	0	26.64	26.55	26.66	8.50	27.79
1869	-1.03	-244.4	3099	2399	3397	3467	162.2	-8.3	208	1870	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2400	3432	3398	3467	0	0	0	0	0	0	26.86	26.88	26.88	8.49	27.94
1989	-1.03	-244.4	3099	2399	3397	3467	172.2	-8.5	220	1999	0.00	3.70	0.00	0.000	516	0.000	0.097	3099	998	3432	3397	3467	0	0	0	0	0	0	26.88	26.51	26.89	8.49	27.90
2080	end dive: TARGET_DEPTH_EXCEEDED
state	2080	begin apogee
2087	-0.39	0.0	3084	2399	3397	3467	180.3	-8.8	229	2272	0.62	0.00	176.57	0.790	10246	0.151	0.000	3309	2399	2588	2556	2621	0	0	0	0	0	0	26.48	24.92	24.37	8.49	27.98
2273	end apogee: CONTROL_FINISHED_OK
state	2273	begin climb
2275	1.03	244.4	3309	2399	2556	2621	187.7	0.0	248	2466	1.27	4.03	178.70	0.765	10500	0.122	0.102	3756	3802	1747	1719	1776	0	0	1	0	0	0	25.06	24.82	24.27	8.41	26.45
2555	1.03	244.4	3755	3802	1719	1776	169.2	10.7	276	2564	0.00	3.70	0.00	0.000	1030	0.000	0.077	3771	2398	1747	1719	1776	0	0	0	0	0	0	25.63	25.56	25.65	8.34	26.92
2683	1.03	244.4	3770	2398	1719	1776	156.6	9.1	289	2694	0.00	3.83	0.00	0.000	516	0.000	0.099	3785	995	1747	1719	1776	0	0	0	0	0	0	26.11	25.77	26.13	8.34	27.04
2740	1.03	244.4	3785	994	1719	1776	152.1	9.1	294	2747	0.00	3.65	0.00	0.000	1030	0.000	0.074	3786	2399	1747	1719	1776	0	0	0	0	0	0	26.01	25.93	26.03	8.34	27.00
2866	1.03	244.4	3785	2399	1719	1776	140.6	9.3	307	2867	0.00	0.00	0.00	0.000	6	0.000	0.000	3785	2399	1747	1719	1776	0	0	0	0	0	0	26.34	26.36	26.36	8.34	27.83
2986	1.03	244.4	3785	2399	1719	1776	129.7	9.3	319	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	3785	2400	1747	1719	1776	0	0	0	0	0	0	26.45	26.46	26.46	8.34	27.67
3106	1.03	244.4	3785	2399	1719	1776	118.6	9.3	331	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	3785	2399	1747	1719	1776	0	0	0	0	0	0	26.53	26.54	26.54	8.34	27.90
3226	1.03	244.4	3785	2399	1719	1776	107.5	8.7	343	3227	0.00	0.00	0.00	0.000	6	0.000	0.000	3785	2399	1747	1719	1776	0	0	0	0	0	0	26.59	26.61	26.60	8.34	27.98
3346	1.03	244.4	3785	2399	1719	1776	96.9	8.9	355	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	3785	2399	1747	1719	1776	0	0	0	0	0	0	26.65	26.66	26.66	8.34	28.42
3466	1.03	244.4	3785	2399	1719	1776	86.5	8.7	367	3476	0.00	3.72	0.00	0.000	516	0.000	0.099	3801	1001	1747	1719	1776	0	0	0	0	0	0	26.69	26.33	26.70	8.34	28.69
3590	1.03	244.4	3800	1002	1719	1776	76.0	9.1	379	3599	0.00	3.58	0.00	0.000	1030	0.000	0.077	3800	2402	1747	1719	1776	0	0	0	0	0	0	26.52	26.44	26.53	8.33	27.75
3718	1.03	244.4	3800	2402	1719	1776	65.0	8.8	392	3719	0.00	0.00	0.00	0.000	6	0.000	0.000	3800	2402	1747	1719	1775	0	0	0	0	0	0	26.76	26.77	26.77	8.33	27.79
3838	1.03	244.4	3800	2402	1719	1776	53.9	8.9	404	3848	0.00	3.72	0.00	0.000	516	0.000	0.102	3814	1000	1747	1719	1776	0	0	0	0	0	0	26.79	26.41	26.79	8.33	28.22
3900	1.03	244.4	3813	1000	1719	1776	47.6	10.7	410	3911	0.12	3.55	0.00	0.000	5126	0.186	0.074	3770	2399	1747	1719	1775	0	0	0	0	0	0	26.38	26.51	26.46	8.33	27.98
4030	1.03	244.4	3769	2399	1719	1776	37.6	7.5	423	4032	0.00	0.00	0.00	0.000	6	0.000	0.000	3770	2399	1747	1719	1776	0	0	0	0	0	0	26.82	26.83	26.82	8.33	28.34
4151	1.05	262.8	3769	2399	1719	1776	28.8	7.1	435	4172	0.00	3.78	14.48	0.643	8708	0.000	0.102	3780	998	1682	1658	1707	0	0	1	0	0	0	26.84	26.27	25.69	8.33	28.10
4237	1.05	262.8	3780	998	1658	1708	22.5	8.0	443	4245	0.00	3.58	0.00	0.000	1030	0.000	0.074	3780	2398	1683	1658	1708	0	0	0	0	0	0	26.47	26.39	26.48	8.33	28.46
4366	1.08	286.5	3780	2398	1658	1709	11.9	7.0	465	4386	0.00	0.00	18.00	0.641	8454	0.000	0.000	3781	2398	1602	1579	1625	0	0	0	0	0	0	26.72	26.09	25.56	8.33	28.02
4447	1.18	363.0	3780	2398	1578	1625	6.8	5.9	480	4511	0.08	3.83	54.60	0.660	10756	0.154	0.099	3838	999	1337	1319	1356	0	0	0	0	0	0	26.30	25.40	25.04	8.32	28.26
4522	end climb: SURFACE_DEPTH_REACHED
state	4522	begin surface coast
4553	end surface coast: CONTROL_FINISHED_OK
state	4553	begin surface