Glider dive log

Shilshole 09Apr19 * SG046 * Dive index * Mission links * Dive 19 * 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 19 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 27 ALTIM_FREQUENCY 13

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 28 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 27 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.5395975 VBD_MIN 350

DIVE 19 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 100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.227991,-0.139873

_SM_DEPTHo 1.57 KALMAN_X 10863.765625,771.672119,-950.392395,-11398.160156,1249.874023

_SM_ANGLEo -54.3 KALMAN_Y -3777.547363,-2741.062500,2245.195557,6332.750488,-946.294678

GPS2 100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9 MHEAD_RNG_PITCHd_Wd 158.2,2722,-11.8,-7.500,-15.66,3954

SPEED_LIMITS 0.130,0.267 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.6,1.022580 _24V_AH 24.49,5.935

SM_CCo 4155,145.35,0.924,0,0,1325,400.02 _10V_AH 10.43,4.691

SM_GC 1.74,8.35,0.00,145.35,0.077,0.000,0.924,188,2051,1325,-8.79,0.18,400.02,0,0,0,0,0,0,26.94,27.27,24.75 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4740.82,-12223.37,100419,083302 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.170023 MEM 312660

HUMID 19.20 DATA_FILE_SIZE 27844,458

INTERNAL_PRESSURE 8.02846 CAP_FILE_SIZE 73429,0

TCM_TEMP 9.00 CFSIZE 2046525440,2041413632

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

ALTIM_TOP_PING 19.4,18.8 GPS 100419,110532,4744.056,-12224.650,18,0.9,29,16.3,0.0,0.0,11,9.4

ALTIM_BOTTOM_PING 80.1,81.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 263 134.23 SBE_CT 310 23 176.40

Roll_motor 44 84 92.68 AA4330 594 31 458.21

VBD_pump_during_apogee 279 1060 7254.71 nil 0 0 0.00

VBD_pump_during_surface 145 923 3287.94 nil 0 0 0.00

VBD_valve 197 161 781.03 nil 0 0 0.00

Iridium_during_init 22 34 18.94 nil 0 0 0.00

Iridium_during_connect 13 160 54.29 nil 0 0 0.00

Iridium_during_xfer 235 223 1286.72 nil 0 0 0.00

Transponder_ping 0 420 7.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 13 2.05

TT8 1184 11 141.67

LPSleep 1722 2 39.34

TT8_Active 607 11 72.72

TT8_Sampling 1111 35 410.76

TT8_CF8 45 56 26.55

TT8_Kalman 33 57 20.18

Analog_circuits 1110 11 127.40

GPS_charging 0 0 0.00

Compass 814 7 63.62

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 -194.6 195 2045 1232 1420 0.0 0.0 0 184 0.00 0.00 -174.10 0.144 16386 0.000 0.000 195 2046 3028 2932 3125 0 0 0 0 0 0 26.56 28.83 26.58 8.06 19.87

186 -1.18 -194.6 195 2046 2931 3126 3.2 -2.1 29 226 9.80 2.35 -23.50 0.161 18948 0.263 0.082 2636 1180 3374 3256 3492 0 0 0 0 0 0 25.96 26.15 26.06 8.22 18.73

323 -1.03 -194.6 2635 1180 3256 3492 18.6 -13.5 54 331 0.20 2.20 0.00 0.000 3078 0.181 0.065 2688 2046 3374 3256 3492 0 0 0 0 0 0 26.21 26.38 26.36 8.25 18.97

398 -0.95 -194.6 2687 2046 3256 3492 26.5 -9.7 62 400 0.10 0.00 0.00 0.000 2054 0.194 0.000 2718 2046 3374 3256 3492 0 0 0 0 0 0 26.35 26.51 26.46 8.25 19.01

518 -0.89 -194.6 2717 2046 3256 3492 34.1 -5.2 74 528 0.00 2.30 0.00 0.000 516 0.000 0.082 2718 1177 3374 3256 3492 0 0 0 0 0 0 26.83 26.53 26.85 8.25 19.48

600 -0.82 -194.6 2717 1177 3256 3492 38.5 -6.1 82 610 0.15 2.20 0.00 0.000 3078 0.171 0.065 2758 2051 3374 3256 3492 0 0 0 0 0 0 26.49 26.63 26.62 8.25 19.20

729 -0.82 -194.6 2757 2051 3256 3493 46.4 -6.6 95 731 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2051 3374 3256 3492 0 0 0 0 0 0 26.96 26.98 26.98 8.24 19.60

849 -0.82 -194.6 2757 2051 3256 3492 54.8 -7.1 107 854 0.00 2.22 0.00 0.000 260 0.000 0.077 2752 2918 3374 3256 3492 0 0 0 0 0 0 27.03 26.72 27.03 8.24 19.48

1025 -0.82 -194.6 2751 2918 3255 3492 68.2 -8.0 124 1030 0.00 2.17 0.00 0.000 1030 0.000 0.065 2752 2039 3374 3256 3492 0 0 0 0 0 0 26.88 26.82 26.90 8.24 19.67

1151 -0.82 -194.6 2751 2039 3256 3492 78.4 -8.1 136 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2039 3374 3256 3492 0 0 0 0 0 0 27.12 27.14 27.13 8.23 19.32

1271 -0.82 -194.6 2751 2039 3256 3492 89.6 -9.5 148 1272 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2038 3374 3256 3492 0 0 0 0 0 0 27.15 27.16 27.16 8.23 19.60

1391 -0.82 -194.6 2751 2039 3256 3492 99.9 -8.2 160 1395 0.00 2.22 0.00 0.000 516 0.000 0.084 2752 1183 3374 3256 3492 0 0 0 0 0 0 27.18 26.86 27.19 8.23 19.56

1459 -0.82 -194.6 2751 1182 3256 3492 106.0 -9.3 166 1467 0.00 2.17 0.00 0.000 1030 0.000 0.065 2752 2045 3374 3256 3492 0 0 0 0 0 0 26.96 26.93 26.98 8.23 19.60

1587 -0.82 -194.6 2752 2045 3256 3492 116.7 -7.5 179 1588 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2045 3374 3256 3492 0 0 0 0 0 0 27.22 27.23 27.22 8.24 19.36

1706 -0.82 -194.6 2751 2045 3256 3492 126.0 -8.8 191 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2045 3374 3256 3492 0 0 0 0 0 0 27.23 27.25 27.24 8.23 19.60

1827 -0.82 -194.6 2751 2045 3255 3492 136.1 -8.1 203 1828 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2045 3374 3256 3492 0 0 0 0 0 0 27.25 27.27 27.27 8.23 19.60

1947 -0.82 -194.6 2751 2045 3256 3492 146.2 -8.4 215 1948 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2045 3374 3256 3492 0 0 0 0 0 0 27.27 27.29 27.28 8.23 19.64

1956 end dive: BOTTOM_OBSTACLE_DETECTED

state 1956 begin apogee

1959 -0.40 0.0 2751 2045 3256 3491 147.1 -8.4 216 2107 0.45 0.00 139.35 1.060 10246 0.149 0.000 2899 2045 2702 2590 2815 0 0 0 0 0 0 26.86 25.20 24.60 8.24 19.64

2108 end apogee: CONTROL_FINISHED_OK

state 2108 begin climb

2109 1.18 194.6 2899 2045 2590 2815 152.8 0.0 231 2259 1.48 2.45 140.05 0.988 10756 0.124 0.084 3394 1186 2031 1921 2142 0 0 0 0 0 0 25.37 25.07 24.49 8.19 19.44

2332 1.09 194.6 3392 1186 1921 2143 137.4 10.1 253 2341 0.00 2.25 0.00 0.000 1030 0.000 0.065 3394 2050 2032 1921 2143 0 0 0 0 0 0 25.85 25.79 25.86 8.14 19.04

2462 1.01 194.6 3393 2050 1921 2143 123.4 11.0 266 2464 0.15 0.00 0.00 0.000 4102 0.166 0.000 3350 2049 2032 1921 2143 0 0 0 0 0 0 26.04 26.20 26.16 8.13 19.20

2581 1.01 194.6 3349 2050 1921 2143 112.7 8.6 278 2585 0.00 2.33 0.00 0.000 516 0.000 0.082 3357 1183 2032 1921 2143 0 0 0 0 0 0 26.59 26.29 26.60 8.13 19.52

2668 0.96 194.6 3357 1182 1921 2144 104.8 9.5 286 2677 0.00 2.20 0.00 0.000 1030 0.000 0.065 3357 2049 2032 1921 2143 0 0 0 0 0 0 26.50 26.44 26.52 8.13 19.79

2797 0.96 194.6 3356 2049 1921 2143 92.8 9.4 299 2802 0.00 2.30 0.00 0.000 516 0.000 0.082 3366 1184 2032 1921 2143 0 0 0 0 0 0 26.81 26.50 26.82 8.12 19.44

2866 0.90 194.6 3366 1184 1922 2143 87.2 8.2 305 2875 0.15 2.20 0.00 0.000 5126 0.151 0.065 3319 2050 2032 1921 2143 0 0 0 0 0 0 26.47 26.61 26.63 8.13 19.71

2993 0.90 194.6 3318 2049 1921 2143 79.4 6.4 318 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2049 2032 1921 2143 0 0 0 0 0 0 26.94 26.94 26.94 8.12 19.71

3113 0.90 194.6 3318 2050 1921 2143 71.3 7.0 330 3115 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2050 2032 1921 2143 0 0 0 0 0 0 26.99 27.01 27.01 8.12 19.71

3233 0.90 194.6 3318 2050 1921 2143 63.5 6.7 342 3238 0.00 2.28 0.00 0.000 516 0.000 0.082 3319 1186 2032 1921 2143 0 0 0 0 0 0 27.04 26.72 27.05 8.12 19.64

3302 0.90 194.6 3319 1185 1921 2143 59.0 6.9 348 3310 0.00 2.17 0.00 0.000 1030 0.000 0.065 3319 2043 2032 1921 2143 0 0 0 0 0 0 26.84 26.81 26.86 8.12 20.23

3430 0.90 194.6 3319 2043 1921 2143 50.2 7.2 361 3431 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2043 2032 1921 2143 0 0 0 0 0 0 27.10 27.12 27.12 8.12 20.34

3549 0.90 194.6 3319 2043 1921 2143 41.2 8.0 373 3551 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2043 2032 1921 2143 0 0 0 0 0 0 27.14 27.15 27.15 8.12 19.36

3669 0.90 194.6 3318 2043 1921 2143 32.4 7.7 385 3674 0.00 2.25 0.00 0.000 516 0.000 0.084 3321 1184 2032 1921 2143 0 0 0 0 0 0 27.17 26.84 27.18 8.12 19.99

3765 0.90 194.6 3320 1184 1921 2143 24.6 8.3 394 3769 0.00 2.15 0.00 0.000 1030 0.000 0.065 3321 2051 2032 1921 2143 0 0 0 0 0 0 26.99 26.93 27.00 8.11 19.32

3892 0.90 194.6 3320 2051 1921 2143 16.6 5.7 411 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2051 2032 1921 2143 0 0 0 0 0 0 27.21 27.22 27.22 8.12 19.75

3962 0.90 194.6 3320 2051 1921 2143 12.3 6.3 424 3969 0.00 2.25 0.00 0.000 516 0.000 0.084 3329 1185 2031 1920 2143 0 0 0 0 0 0 27.22 26.90 27.24 8.12 19.75

4101 0.90 194.6 3328 1185 1921 2143 2.8 7.4 451 4108 0.00 2.15 0.00 0.000 1030 0.000 0.067 3329 2051 2032 1921 2143 0 0 0 0 0 0 27.04 26.98 27.05 8.12 19.75

4113 end climb: SURFACE_DEPTH_REACHED

state 4113 begin surface coast

4140 end surface coast: CONTROL_FINISHED_OK

state 4140 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	19	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	27	ALTIM_FREQUENCY	13
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	28	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	100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.227991,-0.139873
_SM_DEPTHo	1.57	KALMAN_X	10863.765625,771.672119,-950.392395,-11398.160156,1249.874023
_SM_ANGLEo	-54.3	KALMAN_Y	-3777.547363,-2741.062500,2245.195557,6332.750488,-946.294678
GPS2	100419,094555,4744.4629,-12224.7090,4,1.0,13,16.3,0.0,0.0,8,9.9	MHEAD_RNG_PITCHd_Wd	158.2,2722,-11.8,-7.500,-15.66,3954
SPEED_LIMITS	0.130,0.267	D_GRID	180

FINISH	0.6,1.022580	_24V_AH	24.49,5.935
SM_CCo	4155,145.35,0.924,0,0,1325,400.02	_10V_AH	10.43,4.691
SM_GC	1.74,8.35,0.00,145.35,0.077,0.000,0.924,188,2051,1325,-8.79,0.18,400.02,0,0,0,0,0,0,26.94,27.27,24.75	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4740.82,-12223.37,100419,083302	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.170023	MEM	312660
HUMID	19.20	DATA_FILE_SIZE	27844,458
INTERNAL_PRESSURE	8.02846	CAP_FILE_SIZE	73429,0
TCM_TEMP	9.00	CFSIZE	2046525440,2041413632
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.4,18.8	GPS	100419,110532,4744.056,-12224.650,18,0.9,29,16.3,0.0,0.0,11,9.4
ALTIM_BOTTOM_PING	80.1,81.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	263	134.23	SBE_CT	310	23	176.40
Roll_motor	44	84	92.68	AA4330	594	31	458.21
VBD_pump_during_apogee	279	1060	7254.71	nil	0	0	0.00
VBD_pump_during_surface	145	923	3287.94	nil	0	0	0.00
VBD_valve	197	161	781.03	nil	0	0	0.00
Iridium_during_init	22	34	18.94	nil	0	0	0.00
Iridium_during_connect	13	160	54.29	nil	0	0	0.00
Iridium_during_xfer	235	223	1286.72	nil	0	0	0.00
Transponder_ping	0	420	7.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	13	2.05
TT8	1184	11	141.67
LPSleep	1722	2	39.34
TT8_Active	607	11	72.72
TT8_Sampling	1111	35	410.76
TT8_CF8	45	56	26.55
TT8_Kalman	33	57	20.18
Analog_circuits	1110	11	127.40
GPS_charging	0	0	0.00
Compass	814	7	63.62
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	195	2045	1232	1420	0.0	0.0	0	184	0.00	0.00	-174.10	0.144	16386	0.000	0.000	195	2046	3028	2932	3125	0	0	0	0	0	0	26.56	28.83	26.58	8.06	19.87
186	-1.18	-194.6	195	2046	2931	3126	3.2	-2.1	29	226	9.80	2.35	-23.50	0.161	18948	0.263	0.082	2636	1180	3374	3256	3492	0	0	0	0	0	0	25.96	26.15	26.06	8.22	18.73
323	-1.03	-194.6	2635	1180	3256	3492	18.6	-13.5	54	331	0.20	2.20	0.00	0.000	3078	0.181	0.065	2688	2046	3374	3256	3492	0	0	0	0	0	0	26.21	26.38	26.36	8.25	18.97
398	-0.95	-194.6	2687	2046	3256	3492	26.5	-9.7	62	400	0.10	0.00	0.00	0.000	2054	0.194	0.000	2718	2046	3374	3256	3492	0	0	0	0	0	0	26.35	26.51	26.46	8.25	19.01
518	-0.89	-194.6	2717	2046	3256	3492	34.1	-5.2	74	528	0.00	2.30	0.00	0.000	516	0.000	0.082	2718	1177	3374	3256	3492	0	0	0	0	0	0	26.83	26.53	26.85	8.25	19.48
600	-0.82	-194.6	2717	1177	3256	3492	38.5	-6.1	82	610	0.15	2.20	0.00	0.000	3078	0.171	0.065	2758	2051	3374	3256	3492	0	0	0	0	0	0	26.49	26.63	26.62	8.25	19.20
729	-0.82	-194.6	2757	2051	3256	3493	46.4	-6.6	95	731	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2051	3374	3256	3492	0	0	0	0	0	0	26.96	26.98	26.98	8.24	19.60
849	-0.82	-194.6	2757	2051	3256	3492	54.8	-7.1	107	854	0.00	2.22	0.00	0.000	260	0.000	0.077	2752	2918	3374	3256	3492	0	0	0	0	0	0	27.03	26.72	27.03	8.24	19.48
1025	-0.82	-194.6	2751	2918	3255	3492	68.2	-8.0	124	1030	0.00	2.17	0.00	0.000	1030	0.000	0.065	2752	2039	3374	3256	3492	0	0	0	0	0	0	26.88	26.82	26.90	8.24	19.67
1151	-0.82	-194.6	2751	2039	3256	3492	78.4	-8.1	136	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2039	3374	3256	3492	0	0	0	0	0	0	27.12	27.14	27.13	8.23	19.32
1271	-0.82	-194.6	2751	2039	3256	3492	89.6	-9.5	148	1272	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2038	3374	3256	3492	0	0	0	0	0	0	27.15	27.16	27.16	8.23	19.60
1391	-0.82	-194.6	2751	2039	3256	3492	99.9	-8.2	160	1395	0.00	2.22	0.00	0.000	516	0.000	0.084	2752	1183	3374	3256	3492	0	0	0	0	0	0	27.18	26.86	27.19	8.23	19.56
1459	-0.82	-194.6	2751	1182	3256	3492	106.0	-9.3	166	1467	0.00	2.17	0.00	0.000	1030	0.000	0.065	2752	2045	3374	3256	3492	0	0	0	0	0	0	26.96	26.93	26.98	8.23	19.60
1587	-0.82	-194.6	2752	2045	3256	3492	116.7	-7.5	179	1588	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2045	3374	3256	3492	0	0	0	0	0	0	27.22	27.23	27.22	8.24	19.36
1706	-0.82	-194.6	2751	2045	3256	3492	126.0	-8.8	191	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2045	3374	3256	3492	0	0	0	0	0	0	27.23	27.25	27.24	8.23	19.60
1827	-0.82	-194.6	2751	2045	3255	3492	136.1	-8.1	203	1828	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2045	3374	3256	3492	0	0	0	0	0	0	27.25	27.27	27.27	8.23	19.60
1947	-0.82	-194.6	2751	2045	3256	3492	146.2	-8.4	215	1948	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2045	3374	3256	3492	0	0	0	0	0	0	27.27	27.29	27.28	8.23	19.64
1956	end dive: BOTTOM_OBSTACLE_DETECTED
state	1956	begin apogee
1959	-0.40	0.0	2751	2045	3256	3491	147.1	-8.4	216	2107	0.45	0.00	139.35	1.060	10246	0.149	0.000	2899	2045	2702	2590	2815	0	0	0	0	0	0	26.86	25.20	24.60	8.24	19.64
2108	end apogee: CONTROL_FINISHED_OK
state	2108	begin climb
2109	1.18	194.6	2899	2045	2590	2815	152.8	0.0	231	2259	1.48	2.45	140.05	0.988	10756	0.124	0.084	3394	1186	2031	1921	2142	0	0	0	0	0	0	25.37	25.07	24.49	8.19	19.44
2332	1.09	194.6	3392	1186	1921	2143	137.4	10.1	253	2341	0.00	2.25	0.00	0.000	1030	0.000	0.065	3394	2050	2032	1921	2143	0	0	0	0	0	0	25.85	25.79	25.86	8.14	19.04
2462	1.01	194.6	3393	2050	1921	2143	123.4	11.0	266	2464	0.15	0.00	0.00	0.000	4102	0.166	0.000	3350	2049	2032	1921	2143	0	0	0	0	0	0	26.04	26.20	26.16	8.13	19.20
2581	1.01	194.6	3349	2050	1921	2143	112.7	8.6	278	2585	0.00	2.33	0.00	0.000	516	0.000	0.082	3357	1183	2032	1921	2143	0	0	0	0	0	0	26.59	26.29	26.60	8.13	19.52
2668	0.96	194.6	3357	1182	1921	2144	104.8	9.5	286	2677	0.00	2.20	0.00	0.000	1030	0.000	0.065	3357	2049	2032	1921	2143	0	0	0	0	0	0	26.50	26.44	26.52	8.13	19.79
2797	0.96	194.6	3356	2049	1921	2143	92.8	9.4	299	2802	0.00	2.30	0.00	0.000	516	0.000	0.082	3366	1184	2032	1921	2143	0	0	0	0	0	0	26.81	26.50	26.82	8.12	19.44
2866	0.90	194.6	3366	1184	1922	2143	87.2	8.2	305	2875	0.15	2.20	0.00	0.000	5126	0.151	0.065	3319	2050	2032	1921	2143	0	0	0	0	0	0	26.47	26.61	26.63	8.13	19.71
2993	0.90	194.6	3318	2049	1921	2143	79.4	6.4	318	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2049	2032	1921	2143	0	0	0	0	0	0	26.94	26.94	26.94	8.12	19.71
3113	0.90	194.6	3318	2050	1921	2143	71.3	7.0	330	3115	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2050	2032	1921	2143	0	0	0	0	0	0	26.99	27.01	27.01	8.12	19.71
3233	0.90	194.6	3318	2050	1921	2143	63.5	6.7	342	3238	0.00	2.28	0.00	0.000	516	0.000	0.082	3319	1186	2032	1921	2143	0	0	0	0	0	0	27.04	26.72	27.05	8.12	19.64
3302	0.90	194.6	3319	1185	1921	2143	59.0	6.9	348	3310	0.00	2.17	0.00	0.000	1030	0.000	0.065	3319	2043	2032	1921	2143	0	0	0	0	0	0	26.84	26.81	26.86	8.12	20.23
3430	0.90	194.6	3319	2043	1921	2143	50.2	7.2	361	3431	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2043	2032	1921	2143	0	0	0	0	0	0	27.10	27.12	27.12	8.12	20.34
3549	0.90	194.6	3319	2043	1921	2143	41.2	8.0	373	3551	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2043	2032	1921	2143	0	0	0	0	0	0	27.14	27.15	27.15	8.12	19.36
3669	0.90	194.6	3318	2043	1921	2143	32.4	7.7	385	3674	0.00	2.25	0.00	0.000	516	0.000	0.084	3321	1184	2032	1921	2143	0	0	0	0	0	0	27.17	26.84	27.18	8.12	19.99
3765	0.90	194.6	3320	1184	1921	2143	24.6	8.3	394	3769	0.00	2.15	0.00	0.000	1030	0.000	0.065	3321	2051	2032	1921	2143	0	0	0	0	0	0	26.99	26.93	27.00	8.11	19.32
3892	0.90	194.6	3320	2051	1921	2143	16.6	5.7	411	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2051	2032	1921	2143	0	0	0	0	0	0	27.21	27.22	27.22	8.12	19.75
3962	0.90	194.6	3320	2051	1921	2143	12.3	6.3	424	3969	0.00	2.25	0.00	0.000	516	0.000	0.084	3329	1185	2031	1920	2143	0	0	0	0	0	0	27.22	26.90	27.24	8.12	19.75
4101	0.90	194.6	3328	1185	1921	2143	2.8	7.4	451	4108	0.00	2.15	0.00	0.000	1030	0.000	0.067	3329	2051	2032	1921	2143	0	0	0	0	0	0	27.04	26.98	27.05	8.12	19.75
4113	end climb: SURFACE_DEPTH_REACHED
state	4113	begin surface coast
4140	end surface coast: CONTROL_FINISHED_OK
state	4140	begin surface