Glider dive log

Shilshole 30Apr19 * SG037 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 37 HD_B 0.013 ROLL_MAX 3923 ALTIM_BOTTOM_PING_RANGE 0

MISSION 23 HD_C 2.4999999e-06 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 15 HEADING -1 C_ROLL_DIVE 2019 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2019 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 120

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 45 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 45 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 350 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 6

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 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2107 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 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 2.5 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 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 136 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3906 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3519 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 200 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.004395098

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00063361513

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.5651329e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1717634e-06

RHO 1.023 PITCH_GAIN 15 PHONE_SUPPLY 2 SEABIRD_C_G -9.9017992

MASS 78590 PITCH_TIMEOUT 20 PRESSURE_YINT -23.743544 SEABIRD_C_H 1.1589037

MASS_COMP 8995.7998 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0017859261

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021709637

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.29

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0035481339 ROLL_MIN 178 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 350

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 12 FERRY_MAX 45 PITCH_GAIN 15 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3906 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 120 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 136 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 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0035481339 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-06 PRESSURE_YINT -23.743544 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 37 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 1.2 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 1.023 T_TURN_SAMPINT 5

C_PITCH 3519 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2019 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2019 LOGGERS 0 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_VBD 2107 MASS 78590 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 8995.7998 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3923 VBD_BLEED_AD_RATE 3

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 200 ROLL_MIN 178 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 45 VBD_MAX 3900

DEVICE5 -1 MISSION 23 R_STBD_OVSHOOT 45 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.9017992 VBD_MIN 140

DIVE 15 NAV_MODE 2 SEABIRD_C_H 1.1589037 VBD_PUMP_AD_RATE_APOGEE 2.5

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0017859261 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00021709637 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.29 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.004395098 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063361513 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.5651329e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1717634e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010519,130528,4742.9248,-12226.2988,33,1.0,86,16.3,0.0,6.2,3,8.6 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 2.05 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -75.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 010519,131401,4743.0063,-12226.2588,8,0.9,25,16.3,0.3,9.7,9,3.9 MHEAD_RNG_PITCHd_Wd 34.7,3528,-12.3,-7.500,-17.25,3985

SPEED_LIMITS 0.130,0.241 D_GRID 180

Post-dive calculations and measurements:

FINISH 2.7,1.020261 _24V_AH 24.13,91.524

SM_CCo 5428,47.60,0.765,0,0,902,350.04 _10V_AH 10.42,48.771

SM_GC 3.26,10.35,2.42,47.60,0.139,0.070,0.765,148,2029,902,-10.50,-1.16,350.04,0,0,0,0,0,0,26.32,26.54,25.01 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4742.17,-12225.08,010519,112800 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.190995 MEM 312632

HUMID 27.63 DATA_FILE_SIZE 38163,591

INTERNAL_PRESSURE 8.23152 CAP_FILE_SIZE 90550,1

TCM_TEMP 12.90 CFSIZE 2047311872,2041479168

XPDR_PINGS 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 19.3,19.3 CURRENT 0.154,16.53,1

ALTIM_BOTTOM_PING 165.0,61.7 GPS 010519,144751,4743.811,-12225.437,34,0.9,76,16.3,0.5,34.1,9,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 305 193.08 SBE_CT 402 23 225.53

Roll_motor 63 99 152.30 AA4330 820 32 652.77

VBD_pump_during_apogee 348 898 7554.33 nil 0 0 0.00

VBD_pump_during_surface 47 764 878.40 nil 0 0 0.00

VBD_valve 149 109 394.45 nil 0 0 0.00

Iridium_during_init 27 12 8.29 nil 0 0 0.00

Iridium_during_connect 35 160 138.02 nil 0 0 0.00

Iridium_during_xfer 331 223 1783.03 nil 0 0 0.00

Transponder_ping 15 420 159.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 28 7.89

TT8 1765 13 256.98

LPSleep 1890 2 43.13

TT8_Active 586 13 85.35

TT8_Sampling 1530 40 640.84

TT8_CF8 239 61 154.48

TT8_Kalman 0 0 0.00

Analog_circuits 1209 10 125.99

GPS_charging 0 0 0.00

Compass 1100 7 85.90

RAFOS 0 0 0.00

Transponder 141 30 44.30

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

70 -0.87 -195.5 150 2033 953 751 2.1 0.1 12 143 0.00 0.00 -69.88 0.109 16386 0.000 0.000 150 2033 1501 1584 1419 0 0 0 0 0 0 26.47 28.83 26.48 8.26 27.39

146 -0.87 -195.5 150 2033 1584 1418 3.0 -0.3 23 246 13.57 2.50 -79.75 0.109 18692 0.305 0.082 3219 3604 2781 2848 2715 0 0 0 0 0 0 25.63 25.97 25.91 8.32 27.24

524 -0.73 -195.5 3218 3604 2849 2714 48.2 -12.5 69 532 0.20 2.42 0.00 0.000 3078 0.221 0.070 3276 2017 2781 2849 2714 0 0 0 0 0 0 26.01 26.29 26.24 8.44 25.38

653 -0.63 -195.5 3275 2017 2850 2715 61.6 -11.9 82 658 0.10 2.47 0.00 0.000 2564 0.233 0.087 3309 435 2782 2850 2715 0 0 0 0 0 0 26.15 26.29 26.27 8.44 25.15

759 -0.56 -195.5 3308 435 2849 2714 71.6 -10.3 92 764 0.12 2.38 0.00 0.000 3078 0.221 0.070 3335 2015 2782 2849 2715 0 0 0 0 0 0 26.15 26.41 26.36 8.44 26.05

892 -0.56 -195.5 3335 2015 2849 2714 82.5 -8.9 105 893 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2015 2782 2850 2714 0 0 0 0 0 0 26.77 26.78 26.78 8.43 25.86

1012 -0.56 -195.5 3334 2015 2849 2714 92.1 -8.0 117 1022 0.00 2.45 0.00 0.000 516 0.000 0.087 3336 447 2782 2850 2715 0 0 0 0 0 0 26.80 26.42 26.82 8.44 25.58

1096 -0.56 -195.5 3335 446 2849 2715 98.8 -7.9 125 1106 0.00 2.38 0.00 0.000 1030 0.000 0.070 3326 2032 2782 2849 2715 0 0 0 0 0 0 26.60 26.51 26.62 8.43 25.78

1226 -0.56 -195.5 3326 2033 2849 2714 108.6 -7.9 138 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 2033 2781 2849 2714 0 0 0 0 0 0 26.85 26.87 26.87 8.43 25.94

1346 -0.56 -195.5 3325 2033 2849 2715 117.0 -7.4 150 1350 0.00 2.50 0.00 0.000 516 0.000 0.087 3326 435 2782 2850 2714 0 0 0 0 0 0 26.88 26.48 26.89 8.43 26.76

1472 -0.56 -195.5 3326 435 2849 2714 125.4 -7.1 160 1476 0.00 2.38 0.00 0.000 1030 0.000 0.072 3315 2024 2782 2849 2715 0 0 0 0 0 0 26.67 26.58 26.69 8.43 26.33

1618 -0.56 -195.5 3314 2025 2849 2715 137.1 -7.4 173 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2025 2781 2849 2714 0 0 0 0 0 0 26.91 26.93 26.92 8.43 26.72

1751 -0.56 -195.5 3315 2025 2849 2714 147.1 -7.5 185 1761 0.00 2.47 0.00 0.000 516 0.000 0.087 3315 441 2781 2849 2714 0 0 0 0 0 0 26.92 26.52 26.94 8.43 27.27

1815 -0.56 -195.5 3314 441 2849 2714 151.7 -7.5 190 1820 0.12 2.38 0.00 0.000 3078 0.221 0.072 3340 2034 2782 2849 2715 0 0 0 0 0 0 26.32 26.61 26.53 8.43 26.45

1955 -0.56 -195.5 3339 2034 2849 2714 159.2 -6.5 203 1964 0.00 2.50 0.00 0.000 516 0.000 0.087 3340 435 2781 2849 2714 0 0 0 0 0 0 26.94 26.53 26.96 8.43 26.29

2001 -0.56 -195.5 3340 435 2849 2714 161.7 -6.2 206 2008 0.00 2.38 0.00 0.000 1030 0.000 0.072 3332 2025 2781 2849 2714 0 0 0 0 0 0 26.71 26.62 26.73 8.43 26.53

2129 -0.56 -195.5 3331 2025 2849 2714 168.7 -5.4 219 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2025 2781 2849 2714 0 0 0 0 0 0 26.96 26.97 26.97 8.43 26.57

2249 -0.56 -195.5 3331 2025 2849 2714 175.0 -5.4 231 2258 0.00 2.45 0.00 0.000 516 0.000 0.087 3332 445 2781 2849 2714 0 0 0 0 0 0 26.97 26.56 26.98 8.43 26.84

2304 -0.56 -195.5 3331 445 2849 2714 178.5 -5.4 236 2308 0.00 2.35 0.00 0.000 1030 0.000 0.072 3321 2020 2781 2849 2714 0 0 0 0 0 0 26.74 26.65 26.76 8.43 27.00

2324 end dive: TARGET_DEPTH_EXCEEDED

state 2324 begin apogee

2328 -0.33 0.0 3321 2020 2849 2714 180.3 -5.5 238 2477 0.25 0.00 141.45 0.899 10246 0.201 0.000 3402 2020 2107 2188 2026 0 0 0 0 0 0 26.36 24.91 24.34 8.43 26.68

2478 end apogee: CONTROL_FINISHED_OK

state 2478 begin climb

2479 0.87 195.5 3402 2019 2188 2025 186.6 0.0 253 2638 1.17 2.62 143.90 0.864 11012 0.164 0.099 3789 455 1433 1524 1342 0 0 0 0 0 0 25.04 24.54 24.13 8.37 25.50

2753 0.87 195.5 3788 455 1524 1342 168.3 6.9 280 2764 0.00 2.45 0.00 0.000 1030 0.000 0.070 3789 2030 1433 1525 1342 0 0 0 0 0 0 25.72 25.65 25.74 8.31 24.52

2884 0.79 195.5 3788 2031 1524 1342 154.5 10.0 293 2885 0.00 0.00 0.00 0.000 6 0.000 0.000 3789 2030 1433 1524 1342 0 0 0 0 0 0 26.22 26.23 26.23 8.30 25.54

3006 0.71 195.5 3789 2030 1524 1342 143.3 10.2 305 3014 0.12 0.00 0.00 0.000 4102 0.248 0.000 3756 2032 1433 1524 1342 0 0 0 0 0 0 25.84 26.06 25.98 8.31 25.58

3133 0.65 195.5 3755 2032 1524 1342 132.2 9.2 318 3143 0.00 2.50 0.00 0.000 516 0.000 0.087 3766 445 1433 1524 1342 0 0 0 0 0 0 26.52 26.16 26.53 8.31 26.37

3206 0.60 195.5 3766 445 1524 1342 126.0 8.7 325 3211 0.17 2.40 0.00 0.000 5126 0.233 0.070 3718 2031 1433 1524 1342 0 0 0 0 0 0 25.98 26.27 26.21 8.30 26.13

3339 0.60 195.5 3718 2031 1524 1342 115.8 8.0 338 3340 0.00 0.00 0.00 0.000 6 0.000 0.000 3719 2031 1433 1524 1342 0 0 0 0 0 0 26.65 26.66 26.66 8.29 26.49

3459 0.60 195.5 3718 2032 1524 1342 107.2 7.6 350 3460 0.00 0.00 0.00 0.000 6 0.000 0.000 3719 2032 1433 1524 1342 0 0 0 0 0 0 26.70 26.72 26.72 8.31 26.68

3581 0.60 195.5 3718 2031 1524 1342 99.7 6.9 362 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 3718 2031 1433 1524 1342 0 0 0 0 0 0 26.75 26.77 26.76 8.30 27.20

3709 0.60 195.5 3718 2031 1524 1342 92.2 6.0 375 3710 0.00 0.00 0.00 0.000 6 0.000 0.000 3719 2031 1433 1525 1342 0 0 0 0 0 0 26.79 26.82 26.81 8.30 27.67

3831 0.60 195.5 3718 2032 1524 1342 85.3 5.8 387 3838 0.00 0.00 0.00 0.000 6 0.000 0.000 3719 2031 1433 1524 1342 0 0 0 0 0 0 26.83 26.84 26.84 8.30 27.51

3959 0.60 195.5 3718 2031 1524 1342 77.9 5.7 400 3963 0.00 2.50 0.00 0.000 516 0.000 0.087 3728 441 1433 1524 1342 0 0 0 0 0 0 26.85 26.47 26.87 8.29 27.35

4043 0.60 195.5 3727 441 1524 1342 73.1 5.7 408 4048 0.00 2.38 0.00 0.000 1030 0.000 0.072 3728 2027 1433 1524 1342 0 0 0 0 0 0 26.65 26.56 26.67 8.29 27.71

4176 0.60 195.5 3727 2028 1523 1342 65.6 5.7 421 4177 0.00 0.00 0.00 0.000 6 0.000 0.000 3728 2027 1433 1525 1342 0 0 0 0 0 0 26.89 26.91 26.91 8.29 27.55

4296 0.62 283.5 3728 2027 1524 1341 59.8 5.2 433 4366 0.00 0.00 62.95 0.802 8198 0.000 0.000 3728 2027 1130 1227 1033 0 0 0 0 0 0 26.91 25.41 24.82 8.29 28.46

4487 0.62 283.5 3727 2027 1227 1033 47.7 5.9 452 4496 0.00 2.53 0.00 0.000 516 0.000 0.087 3737 449 1130 1227 1033 0 0 0 0 0 0 26.25 25.94 26.27 8.26 26.84

4530 0.62 283.5 3737 449 1227 1033 44.3 6.3 456 4540 0.00 2.40 0.00 0.000 1030 0.000 0.072 3737 2024 1130 1227 1033 0 0 0 0 0 0 26.10 26.06 26.12 8.26 26.72

4660 0.62 283.5 3737 2023 1226 1033 34.8 7.3 469 4661 0.00 0.00 0.00 0.000 6 0.000 0.000 3737 2024 1129 1227 1032 0 0 0 0 0 0 26.49 26.51 26.50 8.26 27.04

4780 0.62 283.5 3737 2023 1227 1032 26.1 7.4 481 4781 0.00 0.00 0.00 0.000 6 0.000 0.000 3737 2024 1129 1227 1032 0 0 0 0 0 0 26.59 26.60 26.60 8.26 27.04

4901 0.62 283.5 3737 2024 1227 1032 17.9 6.9 495 4909 0.00 2.47 0.00 0.000 260 0.000 0.084 3738 3608 1129 1227 1031 0 0 0 0 0 0 26.66 26.33 26.67 8.26 27.63

4944 0.62 283.5 3737 3608 1227 1031 15.1 6.8 502 4952 0.00 2.45 0.00 0.000 1030 0.000 0.070 3748 2003 1129 1227 1031 0 0 0 0 0 0 26.46 26.39 26.49 8.26 28.26

5015 0.62 283.5 3747 2004 1227 1031 10.3 7.1 515 5023 0.00 2.42 0.00 0.000 516 0.000 0.087 3754 449 1129 1227 1031 0 0 0 0 0 0 26.71 26.35 26.72 8.26 28.06

5374 end climb: SURFACE_DEPTH_REACHED

state 5374 begin surface coast

5407 end surface coast: CONTROL_FINISHED_OK

state 5407 begin surface

ID	37	HD_B	0.013	ROLL_MAX	3923	ALTIM_BOTTOM_PING_RANGE	0
MISSION	23	HD_C	2.4999999e-06	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	15	HEADING	-1	C_ROLL_DIVE	2019	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2019	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	120
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	45	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	45	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	350	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	6
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	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2107	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	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	2.5	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	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	136	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3906	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3519	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	200	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.004395098
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00063361513
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.5651329e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1717634e-06
RHO	1.023	PITCH_GAIN	15	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9017992
MASS	78590	PITCH_TIMEOUT	20	PRESSURE_YINT	-23.743544	SEABIRD_C_H	1.1589037
MASS_COMP	8995.7998	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0017859261
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021709637
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.29
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0035481339	ROLL_MIN	178	COMPASS_USE	4

GPS1	010519,130528,4742.9248,-12226.2988,33,1.0,86,16.3,0.0,6.2,3,8.6	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	2.05	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-75.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	010519,131401,4743.0063,-12226.2588,8,0.9,25,16.3,0.3,9.7,9,3.9	MHEAD_RNG_PITCHd_Wd	34.7,3528,-12.3,-7.500,-17.25,3985
SPEED_LIMITS	0.130,0.241	D_GRID	180

FINISH	2.7,1.020261	_24V_AH	24.13,91.524
SM_CCo	5428,47.60,0.765,0,0,902,350.04	_10V_AH	10.42,48.771
SM_GC	3.26,10.35,2.42,47.60,0.139,0.070,0.765,148,2029,902,-10.50,-1.16,350.04,0,0,0,0,0,0,26.32,26.54,25.01	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4742.17,-12225.08,010519,112800	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.190995	MEM	312632
HUMID	27.63	DATA_FILE_SIZE	38163,591
INTERNAL_PRESSURE	8.23152	CAP_FILE_SIZE	90550,1
TCM_TEMP	12.90	CFSIZE	2047311872,2041479168
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.3,19.3	CURRENT	0.154,16.53,1
ALTIM_BOTTOM_PING	165.0,61.7	GPS	010519,144751,4743.811,-12225.437,34,0.9,76,16.3,0.5,34.1,9,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	305	193.08	SBE_CT	402	23	225.53
Roll_motor	63	99	152.30	AA4330	820	32	652.77
VBD_pump_during_apogee	348	898	7554.33	nil	0	0	0.00
VBD_pump_during_surface	47	764	878.40	nil	0	0	0.00
VBD_valve	149	109	394.45	nil	0	0	0.00
Iridium_during_init	27	12	8.29	nil	0	0	0.00
Iridium_during_connect	35	160	138.02	nil	0	0	0.00
Iridium_during_xfer	331	223	1783.03	nil	0	0	0.00
Transponder_ping	15	420	159.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	28	7.89
TT8	1765	13	256.98
LPSleep	1890	2	43.13
TT8_Active	586	13	85.35
TT8_Sampling	1530	40	640.84
TT8_CF8	239	61	154.48
TT8_Kalman	0	0	0.00
Analog_circuits	1209	10	125.99
GPS_charging	0	0	0.00
Compass	1100	7	85.90
RAFOS	0	0	0.00
Transponder	141	30	44.30

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
70	-0.87	-195.5	150	2033	953	751	2.1	0.1	12	143	0.00	0.00	-69.88	0.109	16386	0.000	0.000	150	2033	1501	1584	1419	0	0	0	0	0	0	26.47	28.83	26.48	8.26	27.39
146	-0.87	-195.5	150	2033	1584	1418	3.0	-0.3	23	246	13.57	2.50	-79.75	0.109	18692	0.305	0.082	3219	3604	2781	2848	2715	0	0	0	0	0	0	25.63	25.97	25.91	8.32	27.24
524	-0.73	-195.5	3218	3604	2849	2714	48.2	-12.5	69	532	0.20	2.42	0.00	0.000	3078	0.221	0.070	3276	2017	2781	2849	2714	0	0	0	0	0	0	26.01	26.29	26.24	8.44	25.38
653	-0.63	-195.5	3275	2017	2850	2715	61.6	-11.9	82	658	0.10	2.47	0.00	0.000	2564	0.233	0.087	3309	435	2782	2850	2715	0	0	0	0	0	0	26.15	26.29	26.27	8.44	25.15
759	-0.56	-195.5	3308	435	2849	2714	71.6	-10.3	92	764	0.12	2.38	0.00	0.000	3078	0.221	0.070	3335	2015	2782	2849	2715	0	0	0	0	0	0	26.15	26.41	26.36	8.44	26.05
892	-0.56	-195.5	3335	2015	2849	2714	82.5	-8.9	105	893	0.00	0.00	0.00	0.000	6	0.000	0.000	3335	2015	2782	2850	2714	0	0	0	0	0	0	26.77	26.78	26.78	8.43	25.86
1012	-0.56	-195.5	3334	2015	2849	2714	92.1	-8.0	117	1022	0.00	2.45	0.00	0.000	516	0.000	0.087	3336	447	2782	2850	2715	0	0	0	0	0	0	26.80	26.42	26.82	8.44	25.58
1096	-0.56	-195.5	3335	446	2849	2715	98.8	-7.9	125	1106	0.00	2.38	0.00	0.000	1030	0.000	0.070	3326	2032	2782	2849	2715	0	0	0	0	0	0	26.60	26.51	26.62	8.43	25.78
1226	-0.56	-195.5	3326	2033	2849	2714	108.6	-7.9	138	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	2033	2781	2849	2714	0	0	0	0	0	0	26.85	26.87	26.87	8.43	25.94
1346	-0.56	-195.5	3325	2033	2849	2715	117.0	-7.4	150	1350	0.00	2.50	0.00	0.000	516	0.000	0.087	3326	435	2782	2850	2714	0	0	0	0	0	0	26.88	26.48	26.89	8.43	26.76
1472	-0.56	-195.5	3326	435	2849	2714	125.4	-7.1	160	1476	0.00	2.38	0.00	0.000	1030	0.000	0.072	3315	2024	2782	2849	2715	0	0	0	0	0	0	26.67	26.58	26.69	8.43	26.33
1618	-0.56	-195.5	3314	2025	2849	2715	137.1	-7.4	173	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2025	2781	2849	2714	0	0	0	0	0	0	26.91	26.93	26.92	8.43	26.72
1751	-0.56	-195.5	3315	2025	2849	2714	147.1	-7.5	185	1761	0.00	2.47	0.00	0.000	516	0.000	0.087	3315	441	2781	2849	2714	0	0	0	0	0	0	26.92	26.52	26.94	8.43	27.27
1815	-0.56	-195.5	3314	441	2849	2714	151.7	-7.5	190	1820	0.12	2.38	0.00	0.000	3078	0.221	0.072	3340	2034	2782	2849	2715	0	0	0	0	0	0	26.32	26.61	26.53	8.43	26.45
1955	-0.56	-195.5	3339	2034	2849	2714	159.2	-6.5	203	1964	0.00	2.50	0.00	0.000	516	0.000	0.087	3340	435	2781	2849	2714	0	0	0	0	0	0	26.94	26.53	26.96	8.43	26.29
2001	-0.56	-195.5	3340	435	2849	2714	161.7	-6.2	206	2008	0.00	2.38	0.00	0.000	1030	0.000	0.072	3332	2025	2781	2849	2714	0	0	0	0	0	0	26.71	26.62	26.73	8.43	26.53
2129	-0.56	-195.5	3331	2025	2849	2714	168.7	-5.4	219	2130	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2025	2781	2849	2714	0	0	0	0	0	0	26.96	26.97	26.97	8.43	26.57
2249	-0.56	-195.5	3331	2025	2849	2714	175.0	-5.4	231	2258	0.00	2.45	0.00	0.000	516	0.000	0.087	3332	445	2781	2849	2714	0	0	0	0	0	0	26.97	26.56	26.98	8.43	26.84
2304	-0.56	-195.5	3331	445	2849	2714	178.5	-5.4	236	2308	0.00	2.35	0.00	0.000	1030	0.000	0.072	3321	2020	2781	2849	2714	0	0	0	0	0	0	26.74	26.65	26.76	8.43	27.00
2324	end dive: TARGET_DEPTH_EXCEEDED
state	2324	begin apogee
2328	-0.33	0.0	3321	2020	2849	2714	180.3	-5.5	238	2477	0.25	0.00	141.45	0.899	10246	0.201	0.000	3402	2020	2107	2188	2026	0	0	0	0	0	0	26.36	24.91	24.34	8.43	26.68
2478	end apogee: CONTROL_FINISHED_OK
state	2478	begin climb
2479	0.87	195.5	3402	2019	2188	2025	186.6	0.0	253	2638	1.17	2.62	143.90	0.864	11012	0.164	0.099	3789	455	1433	1524	1342	0	0	0	0	0	0	25.04	24.54	24.13	8.37	25.50
2753	0.87	195.5	3788	455	1524	1342	168.3	6.9	280	2764	0.00	2.45	0.00	0.000	1030	0.000	0.070	3789	2030	1433	1525	1342	0	0	0	0	0	0	25.72	25.65	25.74	8.31	24.52
2884	0.79	195.5	3788	2031	1524	1342	154.5	10.0	293	2885	0.00	0.00	0.00	0.000	6	0.000	0.000	3789	2030	1433	1524	1342	0	0	0	0	0	0	26.22	26.23	26.23	8.30	25.54
3006	0.71	195.5	3789	2030	1524	1342	143.3	10.2	305	3014	0.12	0.00	0.00	0.000	4102	0.248	0.000	3756	2032	1433	1524	1342	0	0	0	0	0	0	25.84	26.06	25.98	8.31	25.58
3133	0.65	195.5	3755	2032	1524	1342	132.2	9.2	318	3143	0.00	2.50	0.00	0.000	516	0.000	0.087	3766	445	1433	1524	1342	0	0	0	0	0	0	26.52	26.16	26.53	8.31	26.37
3206	0.60	195.5	3766	445	1524	1342	126.0	8.7	325	3211	0.17	2.40	0.00	0.000	5126	0.233	0.070	3718	2031	1433	1524	1342	0	0	0	0	0	0	25.98	26.27	26.21	8.30	26.13
3339	0.60	195.5	3718	2031	1524	1342	115.8	8.0	338	3340	0.00	0.00	0.00	0.000	6	0.000	0.000	3719	2031	1433	1524	1342	0	0	0	0	0	0	26.65	26.66	26.66	8.29	26.49
3459	0.60	195.5	3718	2032	1524	1342	107.2	7.6	350	3460	0.00	0.00	0.00	0.000	6	0.000	0.000	3719	2032	1433	1524	1342	0	0	0	0	0	0	26.70	26.72	26.72	8.31	26.68
3581	0.60	195.5	3718	2031	1524	1342	99.7	6.9	362	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	3718	2031	1433	1524	1342	0	0	0	0	0	0	26.75	26.77	26.76	8.30	27.20
3709	0.60	195.5	3718	2031	1524	1342	92.2	6.0	375	3710	0.00	0.00	0.00	0.000	6	0.000	0.000	3719	2031	1433	1525	1342	0	0	0	0	0	0	26.79	26.82	26.81	8.30	27.67
3831	0.60	195.5	3718	2032	1524	1342	85.3	5.8	387	3838	0.00	0.00	0.00	0.000	6	0.000	0.000	3719	2031	1433	1524	1342	0	0	0	0	0	0	26.83	26.84	26.84	8.30	27.51
3959	0.60	195.5	3718	2031	1524	1342	77.9	5.7	400	3963	0.00	2.50	0.00	0.000	516	0.000	0.087	3728	441	1433	1524	1342	0	0	0	0	0	0	26.85	26.47	26.87	8.29	27.35
4043	0.60	195.5	3727	441	1524	1342	73.1	5.7	408	4048	0.00	2.38	0.00	0.000	1030	0.000	0.072	3728	2027	1433	1524	1342	0	0	0	0	0	0	26.65	26.56	26.67	8.29	27.71
4176	0.60	195.5	3727	2028	1523	1342	65.6	5.7	421	4177	0.00	0.00	0.00	0.000	6	0.000	0.000	3728	2027	1433	1525	1342	0	0	0	0	0	0	26.89	26.91	26.91	8.29	27.55
4296	0.62	283.5	3728	2027	1524	1341	59.8	5.2	433	4366	0.00	0.00	62.95	0.802	8198	0.000	0.000	3728	2027	1130	1227	1033	0	0	0	0	0	0	26.91	25.41	24.82	8.29	28.46
4487	0.62	283.5	3727	2027	1227	1033	47.7	5.9	452	4496	0.00	2.53	0.00	0.000	516	0.000	0.087	3737	449	1130	1227	1033	0	0	0	0	0	0	26.25	25.94	26.27	8.26	26.84
4530	0.62	283.5	3737	449	1227	1033	44.3	6.3	456	4540	0.00	2.40	0.00	0.000	1030	0.000	0.072	3737	2024	1130	1227	1033	0	0	0	0	0	0	26.10	26.06	26.12	8.26	26.72
4660	0.62	283.5	3737	2023	1226	1033	34.8	7.3	469	4661	0.00	0.00	0.00	0.000	6	0.000	0.000	3737	2024	1129	1227	1032	0	0	0	0	0	0	26.49	26.51	26.50	8.26	27.04
4780	0.62	283.5	3737	2023	1227	1032	26.1	7.4	481	4781	0.00	0.00	0.00	0.000	6	0.000	0.000	3737	2024	1129	1227	1032	0	0	0	0	0	0	26.59	26.60	26.60	8.26	27.04
4901	0.62	283.5	3737	2024	1227	1032	17.9	6.9	495	4909	0.00	2.47	0.00	0.000	260	0.000	0.084	3738	3608	1129	1227	1031	0	0	0	0	0	0	26.66	26.33	26.67	8.26	27.63
4944	0.62	283.5	3737	3608	1227	1031	15.1	6.8	502	4952	0.00	2.45	0.00	0.000	1030	0.000	0.070	3748	2003	1129	1227	1031	0	0	0	0	0	0	26.46	26.39	26.49	8.26	28.26
5015	0.62	283.5	3747	2004	1227	1031	10.3	7.1	515	5023	0.00	2.42	0.00	0.000	516	0.000	0.087	3754	449	1129	1227	1031	0	0	0	0	0	0	26.71	26.35	26.72	8.26	28.06
5374	end climb: SURFACE_DEPTH_REACHED
state	5374	begin surface coast
5407	end surface coast: CONTROL_FINISHED_OK
state	5407	begin surface