Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 14 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 38 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 53 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 600 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 3050 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2620 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 150 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 25 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 3.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 30 ALTIM_PING_FIT 0 CP_STARTS 25.0

HD_B 0.0099999998 C_ROLL_DIVE 2050 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1850 ALTIM_BOTTOM_TURN_MARGIN 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 600 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 25 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 200

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 225

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 3.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 25.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 3.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2620 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1850 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2050 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 3050 LOITER_D_TOP 0 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 30 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 38 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 53 XPDR_INHIBIT 90

DIVE 14 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 8 SEABIRD_C_H 1.1531761 XPDR_REP 0

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0027973817 XPDR_VALID 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_J 0.00030337134

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0043722652

Pre-dive calculations and measurements:

GPS1 310821,210703,4751.2178,-12509.5508,1,0.9,3,15.7,0.3,93.4,11,6.5 SPEED_LIMITS 0.173,0.259

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4747.975,-12513.804

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.48 MHEAD_RNG_PITCHd_Wd 212.4,8010,-15.8,-10.000,-21.14,2219

_SM_ANGLEo -61.0 D_GRID 225

GPS2 310821,211039,4751.2046,-12509.5205,3,0.9,5,15.7,0.5,154.6,11,10.0

Post-dive calculations and measurements:

FINISH -0.5,1.017683 _24V_AH 24.01,6.370

SM_CCo 4528,158.73,0.643,1,0,591,603.44 _10V_AH 10.26,4.183

SM_GC 0.44,7.70,2.00,158.73,0.049,0.031,0.643,183,2051,591,-7.46,-1.24,603.44,0,0,0,0,1,0,25.67,25.59,24.49 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.26,-12509.51,310821,210517 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.184254 MEM 211724

HUMID 52.91 DATA_FILE_SIZE 36763,693

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 95823,0

TCM_TEMP 15.30 CFSIZE 260030464,249761792

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

CP_FREE 126880645120.000000 CURRENT 0.062,161.47,1

CP_POWER 316.690000 GPS 310821,223101,4750.732,-12509.991,26,0.7,27,15.7,0.5,100.0,10,4.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 317 134.54 SBE_CT 383 64 592.90

Roll_motor 54 84 109.96 WL_blue_red_Chl 1223 37 1100.03

VBD_pump_during_apogee 658 1014 16046.01 nil 0 0 0.00

VBD_pump_during_surface 158 642 2448.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 NCP 4265 25 2560.07

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.17

TT8 1419 12 177.91

LPSleep 914 2 20.55

TT8_Active 776 12 97.40

TT8_Sampling 1453 37 562.04

TT8_CF8 235 42 103.51

TT8_Kalman 0 0 0.00

Analog_circuits 1517 11 171.21

GPS_charging 0 0 0.00

Compass 1517 8 128.28

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.78 -146.0 192 2066 662 445 0.0 0.0 0 138 0.00 0.00 -110.53 0.010 16386 0.000 0.000 192 2066 3168 3163 3174 0 0 0 0 0 0 26.45 28.83 26.51

141 -0.78 -146.0 192 2065 3165 3174 4.6 -9.6 16 165 8.15 1.62 -9.12 0.015 18724 0.224 0.067 2341 3095 3649 3651 3647 0 0 0 0 0 0 26.05 25.07 26.19

250 -0.78 -146.0 2340 3096 3655 3647 28.5 -16.6 35 258 0.00 1.58 0.00 0.000 1030 0.000 0.032 2341 2032 3651 3655 3647 0 0 0 0 0 0 26.51 26.48 26.52

386 -0.78 -146.0 2341 2028 3657 3646 50.1 -15.1 60 393 0.00 1.55 0.00 0.000 516 0.000 0.083 2349 1010 3651 3657 3646 0 0 0 0 0 0 26.59 26.48 26.64

407 -0.78 -146.0 2348 1010 3657 3646 53.0 -14.1 63 414 0.00 1.58 0.00 0.000 1030 0.000 0.037 2343 2046 3651 3657 3646 0 0 0 0 0 0 26.46 26.42 26.50

543 -0.78 -146.0 2343 2045 3659 3646 69.8 -11.2 88 549 0.00 0.00 0.00 0.000 6 0.000 0.000 2343 2045 3651 3658 3645 0 0 0 0 0 0 26.62 26.67 26.67

673 -0.78 -146.0 2343 2045 3660 3646 84.4 -10.7 113 682 0.00 1.58 0.00 0.000 516 0.000 0.038 2349 1008 3652 3659 3645 0 0 0 0 0 0 26.61 26.54 26.67

740 -0.78 -146.0 2348 1008 3660 3646 92.2 -12.6 125 748 0.00 1.58 0.00 0.000 1030 0.000 0.078 2343 2045 3652 3659 3646 0 0 0 0 0 0 26.31 26.06 26.43

877 -0.78 -146.0 2343 2045 3660 3645 109.7 -13.1 144 881 0.00 1.55 0.00 0.000 260 0.000 0.044 2335 3101 3652 3660 3645 0 0 0 0 0 0 26.60 26.55 26.65

922 -0.78 -146.0 2334 3101 3660 3645 115.2 -12.2 152 926 0.00 1.52 0.00 0.000 1030 0.000 0.029 2341 2028 3652 3660 3645 0 0 0 0 0 0 26.65 26.61 26.67

1055 -0.78 -146.0 2341 2026 3660 3645 132.3 -13.1 166 1059 0.00 1.50 0.00 0.000 516 0.000 0.044 2349 1003 3652 3660 3644 0 0 0 0 0 0 26.70 26.55 26.75

1141 -0.78 -146.0 2348 1001 3660 3644 143.5 -12.6 182 1144 0.00 1.55 0.00 0.000 1030 0.000 0.034 2343 2061 3652 3660 3644 0 0 0 0 0 0 26.60 26.57 26.63

1275 -0.78 -146.0 2342 2061 3660 3643 159.7 -12.0 196 1278 0.00 1.52 0.00 0.000 260 0.000 0.045 2335 3098 3652 3660 3644 0 0 0 0 0 0 26.70 26.58 26.76

1300 -0.78 -146.0 2334 3098 3660 3643 163.4 -12.8 201 1309 0.00 1.52 0.00 0.000 1030 0.000 0.030 2341 2057 3651 3660 3643 0 0 0 0 0 0 26.67 26.65 26.69

1427 -0.78 -146.0 2340 2054 3660 3642 179.4 -12.5 214 1431 0.00 1.55 0.00 0.000 516 0.000 0.084 2349 1002 3651 3660 3643 0 0 0 0 0 0 26.69 26.61 26.74

1557 -0.78 -146.0 2347 1002 3660 3642 191.8 -8.6 238 1561 0.00 1.52 0.00 0.000 1062 0.000 0.034 2342 2053 3651 3660 3642 0 0 0 0 0 0 26.69 26.63 26.72

1689 -0.78 -146.0 2342 2053 3660 3641 207.0 -9.8 252 1694 0.03 1.52 0.00 0.000 2340 0.317 0.046 2345 3091 3650 3660 3641 0 0 0 0 0 0 26.51 26.61 26.62

1746 -0.78 -146.0 2344 3091 3659 3641 212.4 -10.1 262 1750 0.00 1.52 0.00 0.000 1030 0.000 0.031 2351 2020 3650 3660 3641 0 0 0 0 0 0 26.72 26.66 26.73

1857 end dive: TARGET_DEPTH_EXCEEDED

state 1857 begin apogee

1862 -0.20 0.0 2352 1830 3660 3641 225.6 -10.9 274 2009 0.60 0.00 136.70 1.014 10246 0.139 0.000 2540 1830 3050 3115 2986 0 0 0 0 1 0 26.43 24.79 24.01

2014 end apogee: CONTROL_FINISHED_OK

state 2014 begin climb

2016 0.78 146.0 2541 1830 3120 2991 231.2 0.0 289 2258 1.00 1.75 231.82 0.559 11012 0.112 0.037 2839 2888 2448 2557 2340 0 0 0 0 0 0 25.03 25.03 24.58

2511 0.79 160.3 2839 2889 2523 2319 206.4 9.3 382 2520 0.00 1.55 3.97 0.828 9254 0.000 0.034 2845 1871 2397 2503 2291 0 0 0 0 0 0 26.03 26.00 24.87

2641 0.79 160.3 2845 1871 2516 2297 194.1 10.0 395 2645 0.00 1.55 0.00 0.000 260 0.000 0.043 2839 2898 2406 2516 2297 0 0 0 0 0 0 26.17 26.08 26.19

2718 0.82 185.9 2838 2898 2515 2297 186.8 8.8 410 2770 0.05 1.58 46.92 0.601 11302 0.146 0.033 2867 1855 2293 2409 2178 0 0 0 0 0 0 26.02 26.18 25.13

2899 0.82 185.9 2866 1855 2383 2157 168.2 11.0 433 2903 0.00 1.62 0.00 0.000 516 0.000 0.051 2875 800 2270 2383 2157 0 0 0 0 0 0 26.10 25.97 26.15

2963 0.82 185.9 2874 800 2383 2157 160.1 13.2 445 2967 0.00 1.58 0.00 0.000 1030 0.000 0.033 2869 1847 2269 2382 2157 0 0 0 0 0 0 26.15 26.10 26.17

3097 0.82 185.9 2869 1849 2380 2157 143.9 11.8 459 3101 0.00 1.58 0.00 0.000 260 0.000 0.046 2865 2896 2268 2380 2157 0 0 0 0 0 0 26.27 26.20 26.33

3164 0.82 185.9 2864 2897 2377 2156 135.5 11.3 472 3173 0.00 1.58 0.00 0.000 1030 0.000 0.038 2871 1856 2266 2377 2156 0 0 0 0 0 0 26.30 26.24 26.31

3293 0.83 196.0 2870 1855 2377 2157 123.3 9.5 485 3296 0.00 1.60 0.00 0.000 548 0.000 0.048 2879 796 2267 2377 2157 0 0 0 0 0 0 26.42 26.30 26.46

3423 0.83 196.0 2878 795 2377 2157 108.1 12.8 510 3432 0.00 1.60 2.00 0.276 9222 0.000 0.034 2879 1844 2252 2366 2138 0 0 0 0 0 0 26.44 26.39 24.32

3553 0.83 196.0 2878 1844 2374 2142 93.3 10.5 529 3561 0.00 1.60 0.00 0.000 260 0.000 0.044 2871 2897 2258 2374 2142 0 0 0 0 0 0 26.47 26.40 26.54

3697 0.85 217.1 2871 2897 2374 2142 78.4 9.0 556 3742 0.00 1.58 37.12 0.584 9254 0.000 0.035 2877 1849 2157 2275 2039 0 0 0 0 0 0 26.50 26.46 25.47

3868 0.87 240.2 2877 1848 2255 2024 60.4 8.9 586 3898 0.00 1.70 24.65 0.584 8740 0.000 0.049 2885 797 2067 2189 1946 0 0 0 0 0 0 26.30 25.84 25.38

3926 0.89 257.6 2885 797 2167 1931 55.4 9.2 595 3949 0.00 1.62 16.77 0.587 9254 0.000 0.034 2879 1845 1997 2120 1875 0 0 0 0 0 0 26.04 26.03 25.27

4077 0.89 257.6 2879 1845 2096 1853 40.9 10.7 622 4085 0.00 1.65 0.00 0.000 260 0.000 0.044 2871 2907 1974 2096 1853 0 0 0 0 0 0 26.13 26.06 26.20

4179 0.89 257.6 2871 2907 2093 1852 29.3 11.4 641 4187 0.00 1.62 0.00 0.000 1030 0.000 0.075 2878 1842 1972 2093 1852 0 0 0 0 0 0 26.19 26.20 26.20

4313 0.98 352.3 2877 1842 2091 1851 18.6 5.6 666 4484 0.12 1.70 158.85 0.512 10788 0.126 0.047 2932 800 1598 1731 1466 0 0 0 0 0 0 26.22 25.26 24.84

4490 end climb: SURFACE_DEPTH_REACHED

state 4490 begin surface coast

4507 end surface coast: CONTROL_FINISHED_OK

state 4507 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	14	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	38	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	53	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	600	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	3050	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2620	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	150	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	25	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	3.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	30	ALTIM_PING_FIT	0	CP_STARTS	25.0
HD_B	0.0099999998	C_ROLL_DIVE	2050	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1850	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	310821,210703,4751.2178,-12509.5508,1,0.9,3,15.7,0.3,93.4,11,6.5	SPEED_LIMITS	0.173,0.259
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4747.975,-12513.804
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.48	MHEAD_RNG_PITCHd_Wd	212.4,8010,-15.8,-10.000,-21.14,2219
_SM_ANGLEo	-61.0	D_GRID	225
GPS2	310821,211039,4751.2046,-12509.5205,3,0.9,5,15.7,0.5,154.6,11,10.0

FINISH	-0.5,1.017683	_24V_AH	24.01,6.370
SM_CCo	4528,158.73,0.643,1,0,591,603.44	_10V_AH	10.26,4.183
SM_GC	0.44,7.70,2.00,158.73,0.049,0.031,0.643,183,2051,591,-7.46,-1.24,603.44,0,0,0,0,1,0,25.67,25.59,24.49	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.26,-12509.51,310821,210517	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.184254	MEM	211724
HUMID	52.91	DATA_FILE_SIZE	36763,693
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	95823,0
TCM_TEMP	15.30	CFSIZE	260030464,249761792
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	126880645120.000000	CURRENT	0.062,161.47,1
CP_POWER	316.690000	GPS	310821,223101,4750.732,-12509.991,26,0.7,27,15.7,0.5,100.0,10,4.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	317	134.54	SBE_CT	383	64	592.90
Roll_motor	54	84	109.96	WL_blue_red_Chl	1223	37	1100.03
VBD_pump_during_apogee	658	1014	16046.01	nil	0	0	0.00
VBD_pump_during_surface	158	642	2448.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	NCP	4265	25	2560.07
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.17
TT8	1419	12	177.91
LPSleep	914	2	20.55
TT8_Active	776	12	97.40
TT8_Sampling	1453	37	562.04
TT8_CF8	235	42	103.51
TT8_Kalman	0	0	0.00
Analog_circuits	1517	11	171.21
GPS_charging	0	0	0.00
Compass	1517	8	128.28
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.78	-146.0	192	2066	662	445	0.0	0.0	0	138	0.00	0.00	-110.53	0.010	16386	0.000	0.000	192	2066	3168	3163	3174	0	0	0	0	0	0	26.45	28.83	26.51
141	-0.78	-146.0	192	2065	3165	3174	4.6	-9.6	16	165	8.15	1.62	-9.12	0.015	18724	0.224	0.067	2341	3095	3649	3651	3647	0	0	0	0	0	0	26.05	25.07	26.19
250	-0.78	-146.0	2340	3096	3655	3647	28.5	-16.6	35	258	0.00	1.58	0.00	0.000	1030	0.000	0.032	2341	2032	3651	3655	3647	0	0	0	0	0	0	26.51	26.48	26.52
386	-0.78	-146.0	2341	2028	3657	3646	50.1	-15.1	60	393	0.00	1.55	0.00	0.000	516	0.000	0.083	2349	1010	3651	3657	3646	0	0	0	0	0	0	26.59	26.48	26.64
407	-0.78	-146.0	2348	1010	3657	3646	53.0	-14.1	63	414	0.00	1.58	0.00	0.000	1030	0.000	0.037	2343	2046	3651	3657	3646	0	0	0	0	0	0	26.46	26.42	26.50
543	-0.78	-146.0	2343	2045	3659	3646	69.8	-11.2	88	549	0.00	0.00	0.00	0.000	6	0.000	0.000	2343	2045	3651	3658	3645	0	0	0	0	0	0	26.62	26.67	26.67
673	-0.78	-146.0	2343	2045	3660	3646	84.4	-10.7	113	682	0.00	1.58	0.00	0.000	516	0.000	0.038	2349	1008	3652	3659	3645	0	0	0	0	0	0	26.61	26.54	26.67
740	-0.78	-146.0	2348	1008	3660	3646	92.2	-12.6	125	748	0.00	1.58	0.00	0.000	1030	0.000	0.078	2343	2045	3652	3659	3646	0	0	0	0	0	0	26.31	26.06	26.43
877	-0.78	-146.0	2343	2045	3660	3645	109.7	-13.1	144	881	0.00	1.55	0.00	0.000	260	0.000	0.044	2335	3101	3652	3660	3645	0	0	0	0	0	0	26.60	26.55	26.65
922	-0.78	-146.0	2334	3101	3660	3645	115.2	-12.2	152	926	0.00	1.52	0.00	0.000	1030	0.000	0.029	2341	2028	3652	3660	3645	0	0	0	0	0	0	26.65	26.61	26.67
1055	-0.78	-146.0	2341	2026	3660	3645	132.3	-13.1	166	1059	0.00	1.50	0.00	0.000	516	0.000	0.044	2349	1003	3652	3660	3644	0	0	0	0	0	0	26.70	26.55	26.75
1141	-0.78	-146.0	2348	1001	3660	3644	143.5	-12.6	182	1144	0.00	1.55	0.00	0.000	1030	0.000	0.034	2343	2061	3652	3660	3644	0	0	0	0	0	0	26.60	26.57	26.63
1275	-0.78	-146.0	2342	2061	3660	3643	159.7	-12.0	196	1278	0.00	1.52	0.00	0.000	260	0.000	0.045	2335	3098	3652	3660	3644	0	0	0	0	0	0	26.70	26.58	26.76
1300	-0.78	-146.0	2334	3098	3660	3643	163.4	-12.8	201	1309	0.00	1.52	0.00	0.000	1030	0.000	0.030	2341	2057	3651	3660	3643	0	0	0	0	0	0	26.67	26.65	26.69
1427	-0.78	-146.0	2340	2054	3660	3642	179.4	-12.5	214	1431	0.00	1.55	0.00	0.000	516	0.000	0.084	2349	1002	3651	3660	3643	0	0	0	0	0	0	26.69	26.61	26.74
1557	-0.78	-146.0	2347	1002	3660	3642	191.8	-8.6	238	1561	0.00	1.52	0.00	0.000	1062	0.000	0.034	2342	2053	3651	3660	3642	0	0	0	0	0	0	26.69	26.63	26.72
1689	-0.78	-146.0	2342	2053	3660	3641	207.0	-9.8	252	1694	0.03	1.52	0.00	0.000	2340	0.317	0.046	2345	3091	3650	3660	3641	0	0	0	0	0	0	26.51	26.61	26.62
1746	-0.78	-146.0	2344	3091	3659	3641	212.4	-10.1	262	1750	0.00	1.52	0.00	0.000	1030	0.000	0.031	2351	2020	3650	3660	3641	0	0	0	0	0	0	26.72	26.66	26.73
1857	end dive: TARGET_DEPTH_EXCEEDED
state	1857	begin apogee
1862	-0.20	0.0	2352	1830	3660	3641	225.6	-10.9	274	2009	0.60	0.00	136.70	1.014	10246	0.139	0.000	2540	1830	3050	3115	2986	0	0	0	0	1	0	26.43	24.79	24.01
2014	end apogee: CONTROL_FINISHED_OK
state	2014	begin climb
2016	0.78	146.0	2541	1830	3120	2991	231.2	0.0	289	2258	1.00	1.75	231.82	0.559	11012	0.112	0.037	2839	2888	2448	2557	2340	0	0	0	0	0	0	25.03	25.03	24.58
2511	0.79	160.3	2839	2889	2523	2319	206.4	9.3	382	2520	0.00	1.55	3.97	0.828	9254	0.000	0.034	2845	1871	2397	2503	2291	0	0	0	0	0	0	26.03	26.00	24.87
2641	0.79	160.3	2845	1871	2516	2297	194.1	10.0	395	2645	0.00	1.55	0.00	0.000	260	0.000	0.043	2839	2898	2406	2516	2297	0	0	0	0	0	0	26.17	26.08	26.19
2718	0.82	185.9	2838	2898	2515	2297	186.8	8.8	410	2770	0.05	1.58	46.92	0.601	11302	0.146	0.033	2867	1855	2293	2409	2178	0	0	0	0	0	0	26.02	26.18	25.13
2899	0.82	185.9	2866	1855	2383	2157	168.2	11.0	433	2903	0.00	1.62	0.00	0.000	516	0.000	0.051	2875	800	2270	2383	2157	0	0	0	0	0	0	26.10	25.97	26.15
2963	0.82	185.9	2874	800	2383	2157	160.1	13.2	445	2967	0.00	1.58	0.00	0.000	1030	0.000	0.033	2869	1847	2269	2382	2157	0	0	0	0	0	0	26.15	26.10	26.17
3097	0.82	185.9	2869	1849	2380	2157	143.9	11.8	459	3101	0.00	1.58	0.00	0.000	260	0.000	0.046	2865	2896	2268	2380	2157	0	0	0	0	0	0	26.27	26.20	26.33
3164	0.82	185.9	2864	2897	2377	2156	135.5	11.3	472	3173	0.00	1.58	0.00	0.000	1030	0.000	0.038	2871	1856	2266	2377	2156	0	0	0	0	0	0	26.30	26.24	26.31
3293	0.83	196.0	2870	1855	2377	2157	123.3	9.5	485	3296	0.00	1.60	0.00	0.000	548	0.000	0.048	2879	796	2267	2377	2157	0	0	0	0	0	0	26.42	26.30	26.46
3423	0.83	196.0	2878	795	2377	2157	108.1	12.8	510	3432	0.00	1.60	2.00	0.276	9222	0.000	0.034	2879	1844	2252	2366	2138	0	0	0	0	0	0	26.44	26.39	24.32
3553	0.83	196.0	2878	1844	2374	2142	93.3	10.5	529	3561	0.00	1.60	0.00	0.000	260	0.000	0.044	2871	2897	2258	2374	2142	0	0	0	0	0	0	26.47	26.40	26.54
3697	0.85	217.1	2871	2897	2374	2142	78.4	9.0	556	3742	0.00	1.58	37.12	0.584	9254	0.000	0.035	2877	1849	2157	2275	2039	0	0	0	0	0	0	26.50	26.46	25.47
3868	0.87	240.2	2877	1848	2255	2024	60.4	8.9	586	3898	0.00	1.70	24.65	0.584	8740	0.000	0.049	2885	797	2067	2189	1946	0	0	0	0	0	0	26.30	25.84	25.38
3926	0.89	257.6	2885	797	2167	1931	55.4	9.2	595	3949	0.00	1.62	16.77	0.587	9254	0.000	0.034	2879	1845	1997	2120	1875	0	0	0	0	0	0	26.04	26.03	25.27
4077	0.89	257.6	2879	1845	2096	1853	40.9	10.7	622	4085	0.00	1.65	0.00	0.000	260	0.000	0.044	2871	2907	1974	2096	1853	0	0	0	0	0	0	26.13	26.06	26.20
4179	0.89	257.6	2871	2907	2093	1852	29.3	11.4	641	4187	0.00	1.62	0.00	0.000	1030	0.000	0.075	2878	1842	1972	2093	1852	0	0	0	0	0	0	26.19	26.20	26.20
4313	0.98	352.3	2877	1842	2091	1851	18.6	5.6	666	4484	0.12	1.70	158.85	0.512	10788	0.126	0.047	2932	800	1598	1731	1466	0	0	0	0	0	0	26.22	25.26	24.84
4490	end climb: SURFACE_DEPTH_REACHED
state	4490	begin surface coast
4507	end surface coast: CONTROL_FINISHED_OK
state	4507	begin surface