Glider dive log

Shilshole 09Apr19 * SG046 * Dive index * Mission links * Dive 4 * 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 4 HEADING -1 C_ROLL_DIVE 250 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 250 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 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 19 ALTIM_FREQUENCY 13

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 32 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 670 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 250 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 40 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 670

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 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 40 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 180 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 250 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_DIVE 250 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 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 19 VBD_MAX 3960

DEVICE5 -1 MISSION 3 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.5395975 VBD_MIN 350

DIVE 4 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 090419,204815,4743.6421,-12223.7715,7,1.0,12,16.3,0.0,0.0,10,9.9 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.173622,-0.236535

_SM_DEPTHo 1.33 KALMAN_X 571.347595,365.783936,229.574585,-665.897583,303.096497

_SM_ANGLEo -48.8 KALMAN_Y 964.617249,547.960144,407.469940,-1364.940063,466.290192

GPS2 090419,205213,4743.6548,-12223.7246,9,1.1,18,16.3,0.0,0.0,9,9.0 MHEAD_RNG_PITCHd_Wd 202.2,1551,-10.2,-7.500,-14.34,4925

SPEED_LIMITS 0.089,0.293 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.8,1.006513 _24V_AH 24.66,3.619

SM_CCo 4440,303.95,0.834,0,0,396,670.18 _10V_AH 10.41,4.342

SM_GC 1.46,8.30,0.00,303.95,0.084,0.000,0.834,188,255,396,-8.79,0.23,670.18,0,0,0,0,0,0,27.01,27.34,24.80 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.02,-12222.38,090419,204446 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.183505 MEM 312720

HUMID 19.67 DATA_FILE_SIZE 31419,498

INTERNAL_PRESSURE 7.96987 CAP_FILE_SIZE 91152,0

TCM_TEMP 9.50 CFSIZE 2046525440,2042953728

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

ALTIM_TOP_PING 19.9,19.6 GPS 090419,221331,4743.718,-12223.572,8,0.7,39,16.3,0.0,164.3,11,5.5

ALTIM_BOTTOM_PING 100.2,70.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 268 137.88 SBE_CT 336 23 192.41

Roll_motor 0 0 0.00 AA4330 646 31 501.39

VBD_pump_during_apogee 345 983 8371.41 nil 0 0 0.00

VBD_pump_during_surface 303 834 6253.33 nil 0 0 0.00

VBD_valve 302 161 1205.44 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 13 2.74

TT8 1188 11 141.92

LPSleep 1962 2 44.73

TT8_Active 883 11 105.47

TT8_Sampling 751 35 277.37

TT8_CF8 34 56 20.08

TT8_Kalman 32 57 19.55

Analog_circuits 1337 11 153.12

GPS_charging 0 0 0.00

Compass 733 7 57.22

RAFOS 0 0 0.00

Transponder 7 30 2.27

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 -1.12 -243.3 197 256 296 494 0.0 0.0 0 293 0.00 0.00 -281.05 0.144 16386 0.000 0.000 198 256 3187 3085 3289 0 0 0 0 0 0 27.08 28.83 27.10 8.01 20.27

294 -1.12 -243.3 197 256 3085 3289 3.4 -2.8 47 332 9.95 0.00 -21.83 0.161 18438 0.268 0.000 2660 255 3542 3419 3665 0 0 0 0 0 0 26.09 26.39 26.24 8.28 19.28

395 -0.91 -243.3 2659 255 3418 3665 14.3 -11.5 65 402 0.20 0.00 0.00 0.000 2054 0.211 0.000 2720 255 3542 3419 3665 0 0 0 0 0 0 26.27 26.46 26.39 8.31 19.32

464 -0.77 -243.3 2719 255 3419 3664 21.6 -10.0 77 466 0.17 0.00 0.00 0.000 2054 0.209 0.000 2768 255 3542 3419 3665 0 0 0 0 0 0 26.36 26.60 26.54 8.31 19.20

584 -0.69 -243.3 2768 255 3419 3665 32.5 -8.7 89 586 0.10 0.00 0.00 0.000 2054 0.211 0.000 2798 255 3541 3419 3664 0 0 0 0 0 0 26.55 26.72 26.67 8.29 19.32

704 -0.62 -243.3 2797 255 3419 3664 42.1 -8.4 101 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 255 3541 3419 3664 0 0 0 0 0 0 27.05 27.08 27.07 8.30 19.56

824 -0.57 -243.3 2797 255 3419 3664 53.7 -9.8 113 826 0.12 0.00 0.00 0.000 2054 0.194 0.000 2835 255 3541 3419 3664 0 0 0 0 0 0 26.65 26.84 26.79 8.29 19.67

944 -0.57 -243.3 2834 256 3419 3663 63.8 -9.1 125 945 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3420 3663 0 0 0 0 0 0 27.16 27.17 27.17 8.29 20.46

1063 -0.57 -243.3 2834 255 3419 3663 73.7 -7.2 137 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3420 3663 0 0 0 0 0 0 27.20 27.21 27.21 8.28 19.91

1183 -0.57 -243.3 2834 255 3419 3663 83.5 -8.3 149 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3419 3663 0 0 0 0 0 0 27.23 27.24 27.24 8.29 20.30

1303 -0.57 -243.3 2835 255 3420 3663 93.3 -8.7 161 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3419 3663 0 0 0 0 0 0 27.26 27.27 27.27 8.28 20.62

1424 -0.57 -243.3 2834 255 3419 3662 101.0 -5.1 173 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3419 3663 0 0 0 0 0 0 27.27 27.29 27.28 8.28 19.83

1543 -0.57 -243.3 2834 255 3419 3662 109.2 -7.2 185 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3540 3419 3662 0 0 0 0 0 0 27.30 27.32 27.31 8.28 20.27

1663 -0.57 -243.3 2834 255 3419 3662 117.9 -7.3 197 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3541 3419 3663 0 0 0 0 0 0 27.32 27.33 27.33 8.28 20.38

1783 -0.57 -243.3 2834 255 3419 3663 126.5 -7.3 209 1785 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3540 3419 3662 0 0 0 0 0 0 27.33 27.35 27.34 8.27 20.07

1904 -0.57 -243.3 2835 255 3419 3662 135.5 -7.7 221 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3540 3419 3662 0 0 0 0 0 0 27.35 27.36 27.36 8.27 19.99

2024 -0.57 -243.3 2834 255 3419 3661 143.5 -5.8 233 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3540 3419 3661 0 0 0 0 0 0 27.36 27.38 27.37 8.27 20.15

2143 -0.57 -243.3 2835 255 3419 3661 151.9 -7.9 245 2145 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 255 3540 3419 3662 0 0 0 0 0 0 27.37 27.39 27.39 8.27 20.46

2193 end dive: BOTTOM_OBSTACLE_DETECTED

state 2193 begin apogee

2196 -0.40 0.0 2834 255 3420 3661 156.0 -8.2 250 2375 0.17 0.00 171.32 0.983 10246 0.176 0.000 2890 255 2706 2593 2819 0 0 0 0 0 0 26.87 25.16 24.75 8.27 20.30

2376 end apogee: CONTROL_FINISHED_OK

state 2376 begin climb

2377 1.12 243.3 2890 255 2594 2819 164.3 0.0 268 2556 1.58 0.00 173.93 0.906 10246 0.171 0.000 3363 255 1864 1747 1982 0 0 0 0 0 0 25.39 25.19 24.66 8.21 19.79

2674 1.03 243.3 3362 255 1747 1982 138.7 9.7 298 2675 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 255 1864 1747 1981 0 0 0 0 0 0 26.33 26.35 26.34 8.14 19.56

2794 0.94 243.3 3362 255 1747 1982 126.9 10.2 310 2796 0.12 0.00 0.00 0.000 4102 0.171 0.000 3327 254 1864 1747 1982 0 0 0 0 0 0 26.23 26.39 26.35 8.14 19.91

2914 0.88 243.3 3326 255 1747 1982 116.3 9.0 322 2915 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 255 1864 1747 1982 0 0 0 0 0 0 26.77 26.79 26.78 8.13 20.30

3034 0.83 243.3 3327 255 1747 1982 105.8 8.6 334 3036 0.12 0.00 0.00 0.000 4102 0.196 0.000 3288 255 1864 1747 1981 0 0 0 0 0 0 26.48 26.65 26.61 8.13 19.83

3153 0.83 243.3 3288 255 1747 1982 97.4 6.2 346 3155 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 255 1864 1747 1982 0 0 0 0 0 0 26.97 26.98 26.98 8.13 20.38

3274 0.83 243.3 3288 255 1747 1982 88.6 7.9 358 3275 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.04 27.05 27.05 8.13 20.23

3393 0.83 243.3 3288 255 1747 1983 80.0 7.1 370 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 255 1864 1747 1982 0 0 0 0 0 0 27.09 27.10 27.10 8.13 19.91

3514 0.83 243.3 3289 255 1747 1982 70.3 8.3 382 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.14 27.15 27.15 8.12 20.19

3633 0.83 243.3 3288 255 1747 1982 60.8 7.9 394 3635 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.17 27.19 27.19 8.12 19.95

3753 0.83 243.3 3287 255 1747 1982 51.3 7.8 406 3755 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.21 27.22 27.22 8.12 20.78

3874 0.83 243.3 3287 255 1747 1982 42.3 8.0 418 3875 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.24 27.25 27.24 8.11 20.19

3994 0.83 243.3 3288 255 1747 1982 32.8 8.8 430 3995 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 255 1864 1747 1982 0 0 0 0 0 0 27.26 27.28 27.27 8.12 20.46

4113 0.83 243.3 3288 255 1747 1982 22.9 8.0 442 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.28 27.29 27.29 8.12 20.74

4234 0.83 243.3 3288 255 1747 1982 13.6 8.8 462 4240 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.30 27.32 27.31 8.12 20.19

4302 0.83 243.3 3288 255 1747 1982 8.4 7.4 475 4308 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.31 27.32 27.32 8.12 20.42

4370 0.83 243.3 3288 255 1747 1982 3.7 6.6 488 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 255 1864 1747 1982 0 0 0 0 0 0 27.32 27.34 27.33 8.12 20.19

4398 end climb: SURFACE_DEPTH_REACHED

state 4398 begin surface coast

4425 end surface coast: CONTROL_FINISHED_OK

state 4425 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	4	HEADING	-1	C_ROLL_DIVE	250	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	250	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	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	19	ALTIM_FREQUENCY	13
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	32	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	670	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	250	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	40	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	090419,204815,4743.6421,-12223.7715,7,1.0,12,16.3,0.0,0.0,10,9.9	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.173622,-0.236535
_SM_DEPTHo	1.33	KALMAN_X	571.347595,365.783936,229.574585,-665.897583,303.096497
_SM_ANGLEo	-48.8	KALMAN_Y	964.617249,547.960144,407.469940,-1364.940063,466.290192
GPS2	090419,205213,4743.6548,-12223.7246,9,1.1,18,16.3,0.0,0.0,9,9.0	MHEAD_RNG_PITCHd_Wd	202.2,1551,-10.2,-7.500,-14.34,4925
SPEED_LIMITS	0.089,0.293	D_GRID	180

FINISH	0.8,1.006513	_24V_AH	24.66,3.619
SM_CCo	4440,303.95,0.834,0,0,396,670.18	_10V_AH	10.41,4.342
SM_GC	1.46,8.30,0.00,303.95,0.084,0.000,0.834,188,255,396,-8.79,0.23,670.18,0,0,0,0,0,0,27.01,27.34,24.80	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.02,-12222.38,090419,204446	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.183505	MEM	312720
HUMID	19.67	DATA_FILE_SIZE	31419,498
INTERNAL_PRESSURE	7.96987	CAP_FILE_SIZE	91152,0
TCM_TEMP	9.50	CFSIZE	2046525440,2042953728
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.9,19.6	GPS	090419,221331,4743.718,-12223.572,8,0.7,39,16.3,0.0,164.3,11,5.5
ALTIM_BOTTOM_PING	100.2,70.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	268	137.88	SBE_CT	336	23	192.41
Roll_motor	0	0	0.00	AA4330	646	31	501.39
VBD_pump_during_apogee	345	983	8371.41	nil	0	0	0.00
VBD_pump_during_surface	303	834	6253.33	nil	0	0	0.00
VBD_valve	302	161	1205.44	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	13	2.74
TT8	1188	11	141.92
LPSleep	1962	2	44.73
TT8_Active	883	11	105.47
TT8_Sampling	751	35	277.37
TT8_CF8	34	56	20.08
TT8_Kalman	32	57	19.55
Analog_circuits	1337	11	153.12
GPS_charging	0	0	0.00
Compass	733	7	57.22
RAFOS	0	0	0.00
Transponder	7	30	2.27

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	-1.12	-243.3	197	256	296	494	0.0	0.0	0	293	0.00	0.00	-281.05	0.144	16386	0.000	0.000	198	256	3187	3085	3289	0	0	0	0	0	0	27.08	28.83	27.10	8.01	20.27
294	-1.12	-243.3	197	256	3085	3289	3.4	-2.8	47	332	9.95	0.00	-21.83	0.161	18438	0.268	0.000	2660	255	3542	3419	3665	0	0	0	0	0	0	26.09	26.39	26.24	8.28	19.28
395	-0.91	-243.3	2659	255	3418	3665	14.3	-11.5	65	402	0.20	0.00	0.00	0.000	2054	0.211	0.000	2720	255	3542	3419	3665	0	0	0	0	0	0	26.27	26.46	26.39	8.31	19.32
464	-0.77	-243.3	2719	255	3419	3664	21.6	-10.0	77	466	0.17	0.00	0.00	0.000	2054	0.209	0.000	2768	255	3542	3419	3665	0	0	0	0	0	0	26.36	26.60	26.54	8.31	19.20
584	-0.69	-243.3	2768	255	3419	3665	32.5	-8.7	89	586	0.10	0.00	0.00	0.000	2054	0.211	0.000	2798	255	3541	3419	3664	0	0	0	0	0	0	26.55	26.72	26.67	8.29	19.32
704	-0.62	-243.3	2797	255	3419	3664	42.1	-8.4	101	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	255	3541	3419	3664	0	0	0	0	0	0	27.05	27.08	27.07	8.30	19.56
824	-0.57	-243.3	2797	255	3419	3664	53.7	-9.8	113	826	0.12	0.00	0.00	0.000	2054	0.194	0.000	2835	255	3541	3419	3664	0	0	0	0	0	0	26.65	26.84	26.79	8.29	19.67
944	-0.57	-243.3	2834	256	3419	3663	63.8	-9.1	125	945	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3420	3663	0	0	0	0	0	0	27.16	27.17	27.17	8.29	20.46
1063	-0.57	-243.3	2834	255	3419	3663	73.7	-7.2	137	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3420	3663	0	0	0	0	0	0	27.20	27.21	27.21	8.28	19.91
1183	-0.57	-243.3	2834	255	3419	3663	83.5	-8.3	149	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3419	3663	0	0	0	0	0	0	27.23	27.24	27.24	8.29	20.30
1303	-0.57	-243.3	2835	255	3420	3663	93.3	-8.7	161	1305	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3419	3663	0	0	0	0	0	0	27.26	27.27	27.27	8.28	20.62
1424	-0.57	-243.3	2834	255	3419	3662	101.0	-5.1	173	1425	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3419	3663	0	0	0	0	0	0	27.27	27.29	27.28	8.28	19.83
1543	-0.57	-243.3	2834	255	3419	3662	109.2	-7.2	185	1545	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3540	3419	3662	0	0	0	0	0	0	27.30	27.32	27.31	8.28	20.27
1663	-0.57	-243.3	2834	255	3419	3662	117.9	-7.3	197	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3541	3419	3663	0	0	0	0	0	0	27.32	27.33	27.33	8.28	20.38
1783	-0.57	-243.3	2834	255	3419	3663	126.5	-7.3	209	1785	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3540	3419	3662	0	0	0	0	0	0	27.33	27.35	27.34	8.27	20.07
1904	-0.57	-243.3	2835	255	3419	3662	135.5	-7.7	221	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3540	3419	3662	0	0	0	0	0	0	27.35	27.36	27.36	8.27	19.99
2024	-0.57	-243.3	2834	255	3419	3661	143.5	-5.8	233	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3540	3419	3661	0	0	0	0	0	0	27.36	27.38	27.37	8.27	20.15
2143	-0.57	-243.3	2835	255	3419	3661	151.9	-7.9	245	2145	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	255	3540	3419	3662	0	0	0	0	0	0	27.37	27.39	27.39	8.27	20.46
2193	end dive: BOTTOM_OBSTACLE_DETECTED
state	2193	begin apogee
2196	-0.40	0.0	2834	255	3420	3661	156.0	-8.2	250	2375	0.17	0.00	171.32	0.983	10246	0.176	0.000	2890	255	2706	2593	2819	0	0	0	0	0	0	26.87	25.16	24.75	8.27	20.30
2376	end apogee: CONTROL_FINISHED_OK
state	2376	begin climb
2377	1.12	243.3	2890	255	2594	2819	164.3	0.0	268	2556	1.58	0.00	173.93	0.906	10246	0.171	0.000	3363	255	1864	1747	1982	0	0	0	0	0	0	25.39	25.19	24.66	8.21	19.79
2674	1.03	243.3	3362	255	1747	1982	138.7	9.7	298	2675	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	255	1864	1747	1981	0	0	0	0	0	0	26.33	26.35	26.34	8.14	19.56
2794	0.94	243.3	3362	255	1747	1982	126.9	10.2	310	2796	0.12	0.00	0.00	0.000	4102	0.171	0.000	3327	254	1864	1747	1982	0	0	0	0	0	0	26.23	26.39	26.35	8.14	19.91
2914	0.88	243.3	3326	255	1747	1982	116.3	9.0	322	2915	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	255	1864	1747	1982	0	0	0	0	0	0	26.77	26.79	26.78	8.13	20.30
3034	0.83	243.3	3327	255	1747	1982	105.8	8.6	334	3036	0.12	0.00	0.00	0.000	4102	0.196	0.000	3288	255	1864	1747	1981	0	0	0	0	0	0	26.48	26.65	26.61	8.13	19.83
3153	0.83	243.3	3288	255	1747	1982	97.4	6.2	346	3155	0.00	0.00	0.00	0.000	6	0.000	0.000	3289	255	1864	1747	1982	0	0	0	0	0	0	26.97	26.98	26.98	8.13	20.38
3274	0.83	243.3	3288	255	1747	1982	88.6	7.9	358	3275	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.04	27.05	27.05	8.13	20.23
3393	0.83	243.3	3288	255	1747	1983	80.0	7.1	370	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	3289	255	1864	1747	1982	0	0	0	0	0	0	27.09	27.10	27.10	8.13	19.91
3514	0.83	243.3	3289	255	1747	1982	70.3	8.3	382	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.14	27.15	27.15	8.12	20.19
3633	0.83	243.3	3288	255	1747	1982	60.8	7.9	394	3635	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.17	27.19	27.19	8.12	19.95
3753	0.83	243.3	3287	255	1747	1982	51.3	7.8	406	3755	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.21	27.22	27.22	8.12	20.78
3874	0.83	243.3	3287	255	1747	1982	42.3	8.0	418	3875	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.24	27.25	27.24	8.11	20.19
3994	0.83	243.3	3288	255	1747	1982	32.8	8.8	430	3995	0.00	0.00	0.00	0.000	6	0.000	0.000	3289	255	1864	1747	1982	0	0	0	0	0	0	27.26	27.28	27.27	8.12	20.46
4113	0.83	243.3	3288	255	1747	1982	22.9	8.0	442	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.28	27.29	27.29	8.12	20.74
4234	0.83	243.3	3288	255	1747	1982	13.6	8.8	462	4240	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.30	27.32	27.31	8.12	20.19
4302	0.83	243.3	3288	255	1747	1982	8.4	7.4	475	4308	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.31	27.32	27.32	8.12	20.42
4370	0.83	243.3	3288	255	1747	1982	3.7	6.6	488	4376	0.00	0.00	0.00	0.000	6	0.000	0.000	3288	255	1864	1747	1982	0	0	0	0	0	0	27.32	27.34	27.33	8.12	20.19
4398	end climb: SURFACE_DEPTH_REACHED
state	4398	begin surface coast
4425	end surface coast: CONTROL_FINISHED_OK
state	4425	begin surface