Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 188 * 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 170

DIVE 188 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 61 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 350 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 2800 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 0.0012000001 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 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

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 3 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 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 2600 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 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 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 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 284.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

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 20 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 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 350 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 28 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 115

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 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 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 235

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 3

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 7.0 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 284.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 0 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 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 0.5 ROLL_DEG 20 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 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 61 XPDR_INHIBIT 90

DIVE 188 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 130921,200155,4750.5645,-12509.2412,11,0.8,44,15.7,0.7,278.8,12,3.3 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.55 MHEAD_RNG_PITCHd_Wd 304.1,1206,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.0 D_GRID 222

GPS2 130921,200603,4750.5801,-12509.2578,3,0.8,6,15.7,0.3,321.4,12,5.0

Post-dive calculations and measurements:

FINISH 1.5,1.025298 _10V_AH 10.23,15.983

SM_CCo 4728,0.03,2.948,0,0,549,552.17 FG_AHR_24Vo 0.000

SM_GC 0.57,7.82,1.38,0.03,0.079,0.028,2.948,167,1991,549,-7.41,-1.53,552.17,0,0,0,0,0,0,26.33,26.29,23.80 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4753.16,-12531.89,130921,183343 MEM 210268

TT8_MAMPS 0.021721,0.148302 DATA_FILE_SIZE 33552,653

HUMID 53.85 CAP_FILE_SIZE 78426,0

INTERNAL_PRESSURE 8.7185 CFSIZE 260030464,236675072

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.081,290.31,1

_24V_AH 23.80,29.522 GPS 130921,212627,4750.975,-12509.936,3,1.0,7,15.7,0.5,276.7,12,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 236 101.83 SBE_CT 401 64 615.57

Roll_motor 25 66 40.27 WL_blue_red_Chl 1272 37 1134.51

VBD_pump_during_apogee 446 1043 11095.99 nil 0 0 0.00

VBD_pump_during_surface 197 2948 13846.25 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 0 0 0.00

Iridium_during_xfer 160 87 333.19 nil 0 0 0.00

Transponder_ping 1 420 14.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.23

TT8 1485 12 185.75

LPSleep 1028 2 23.04

TT8_Active 706 12 88.36

TT8_Sampling 1518 37 585.46

TT8_CF8 261 42 114.64

TT8_Kalman 0 0 0.00

Analog_circuits 1528 11 172.04

GPS_charging 0 0 0.00

Compass 1477 8 124.59

RAFOS 0 0 0.00

Transponder 12 30 3.80

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.80 -116.8 164 2017 682 412 0.0 0.0 0 113 0.00 0.00 -103.15 0.004 16386 0.000 0.000 164 2018 2985 2970 3001 0 0 0 0 0 0 26.33 28.83 26.40

116 -0.80 -116.8 164 2018 2972 3001 3.9 -6.9 15 139 8.35 1.02 -6.22 0.013 18724 0.208 0.067 2319 2697 3279 3279 3279 0 0 0 0 0 0 25.71 24.57 25.88

147 -0.80 -116.8 2319 2696 3281 3279 14.2 -30.0 19 155 0.00 1.02 0.00 0.000 1030 0.000 0.027 2322 1994 3279 3280 3278 0 0 0 0 0 0 26.27 26.25 26.29

283 -0.80 -116.8 2321 1993 3286 3277 35.1 -12.5 44 291 0.00 1.00 0.00 0.000 516 0.000 0.032 2322 1316 3281 3286 3277 0 0 0 0 0 0 26.58 26.32 26.63

508 -0.80 -116.8 2322 1316 3288 3276 62.3 -12.6 87 515 0.00 1.02 0.00 0.000 1030 0.000 0.031 2319 1994 3281 3287 3276 0 0 0 0 0 0 26.48 26.45 26.51

646 -0.80 -116.8 2318 1994 3290 3276 78.8 -11.7 112 654 0.00 1.02 0.00 0.000 516 0.000 0.034 2319 1313 3283 3290 3276 0 0 0 0 0 0 26.77 26.49 26.82

694 -0.80 -116.8 2318 1312 3290 3275 83.8 -10.0 120 703 0.00 1.02 0.00 0.000 1062 0.000 0.029 2316 1999 3283 3290 3276 0 0 0 0 0 0 26.58 26.54 26.59

833 -0.80 -116.8 2315 1999 3290 3275 97.2 -10.7 145 840 0.00 1.02 0.00 0.000 516 0.000 0.031 2319 1308 3283 3290 3276 0 0 0 0 0 0 26.84 26.56 26.89

904 -0.80 -116.8 2319 1308 3290 3276 105.3 -10.6 158 912 0.00 1.02 0.00 0.000 1030 0.000 0.028 2316 1997 3282 3290 3275 0 0 0 0 0 0 26.63 26.60 26.68

1032 -0.80 -116.8 2315 1997 3290 3275 117.8 -9.8 171 1039 0.00 0.00 0.00 0.000 38 0.000 0.000 2316 1997 3283 3291 3275 0 0 0 0 0 0 26.89 26.94 26.94

1163 -0.80 -116.8 2315 1997 3291 3275 131.5 -10.8 184 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1997 3283 3291 3275 0 0 0 0 0 0 26.91 26.97 26.96

1292 -0.80 -116.8 2315 1997 3291 3275 145.8 -10.7 197 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1997 3283 3291 3275 0 0 0 0 0 0 26.94 27.00 26.99

1424 -0.80 -116.8 2315 1997 3291 3274 159.3 -10.0 210 1431 0.00 0.00 0.00 0.000 38 0.000 0.000 2316 1997 3283 3292 3275 0 0 0 0 0 0 26.96 27.02 27.01

1551 -0.80 -116.8 2315 1997 3291 3274 172.5 -10.4 223 1555 0.00 1.02 0.00 0.000 516 0.000 0.032 2319 1302 3282 3290 3274 0 0 0 0 0 0 26.98 26.69 27.03

1618 -0.80 -116.8 2318 1302 3291 3274 179.5 -10.5 235 1622 0.00 1.05 0.00 0.000 1030 0.000 0.030 2316 2009 3282 3291 3274 0 0 0 0 0 0 26.74 26.72 26.77

1750 -0.80 -116.8 2314 2009 3291 3274 193.5 -11.0 249 1754 0.00 1.02 0.00 0.000 516 0.000 0.031 2318 1313 3282 3291 3274 0 0 0 0 0 0 27.03 26.72 27.06

1798 -0.80 -116.8 2318 1312 3291 3274 199.6 -12.0 258 1806 0.00 1.02 0.00 0.000 1030 0.000 0.029 2315 2003 3282 3291 3274 0 0 0 0 0 0 26.76 26.74 26.79

1928 -0.80 -116.8 2314 2004 3291 3274 212.7 -10.1 271 1935 0.00 0.00 0.00 0.000 38 0.000 0.000 2315 2004 3282 3291 3274 0 0 0 0 0 0 27.00 27.05 27.05

2014 end dive: TARGET_DEPTH_EXCEEDED

state 2014 begin apogee

2019 -0.18 0.0 2314 1766 3291 3274 222.2 -10.3 280 2137 0.68 0.00 103.07 1.043 10246 0.155 0.000 2518 1764 2802 2859 2746 0 0 0 0 1 0 26.20 24.78 24.18

2137 end apogee: CONTROL_FINISHED_OK

state 2138 begin climb

2140 0.80 116.8 2517 1764 2860 2748 226.3 0.0 292 2338 1.02 0.98 190.30 0.536 10756 0.116 0.034 2839 1132 2319 2447 2192 0 0 0 0 0 0 25.17 24.89 24.57

2378 0.81 128.9 2839 1132 2421 2175 211.9 9.4 338 2389 0.00 1.05 3.40 0.681 9254 0.000 0.030 2836 1801 2277 2409 2146 0 0 0 0 0 0 25.51 25.49 24.29

2509 0.82 136.0 2835 1801 2415 2147 199.3 9.7 352 2530 0.00 1.10 15.48 0.627 8484 0.000 0.036 2830 2501 2240 2374 2107 0 0 0 0 0 0 26.13 25.60 25.00

2611 0.82 136.0 2830 2502 2364 2101 188.9 10.1 371 2618 0.00 1.00 0.00 0.000 1062 0.000 0.030 2834 1833 2232 2364 2101 0 0 0 0 0 0 26.03 25.99 26.05

2740 0.83 143.9 2833 1833 2363 2101 176.9 9.7 384 2748 0.05 0.00 4.35 0.839 10278 0.236 0.000 2842 1832 2215 2350 2080 0 0 0 0 0 0 26.17 25.87 25.22

2870 0.84 154.2 2842 1832 2352 2080 164.6 9.5 397 2897 0.00 0.00 20.23 0.614 8230 0.000 0.000 2843 1832 2166 2303 2030 0 0 0 0 0 0 26.48 25.65 25.30

3020 0.84 154.2 2842 1832 2296 2027 149.0 10.9 412 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1832 2161 2296 2027 0 0 0 0 0 0 26.45 26.51 26.51

3147 0.84 154.2 2842 1832 2295 2027 135.2 10.6 425 3149 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1832 2161 2295 2027 0 0 0 0 0 0 26.57 26.63 26.63

3268 0.84 155.8 2842 1832 2294 2027 123.5 10.1 437 3277 0.00 0.00 0.00 0.000 38 0.000 0.000 2843 1832 2160 2294 2027 0 0 0 0 0 0 26.65 26.72 26.70

3398 0.85 164.2 2842 1832 2294 2027 110.8 9.7 450 3410 0.00 1.02 3.28 0.708 8484 0.000 0.038 2840 2500 2132 2269 1995 0 0 0 0 0 0 26.72 26.12 24.96

3487 0.85 164.2 2839 2500 2270 1994 100.9 11.3 466 3491 0.00 1.02 0.00 0.000 1030 0.000 0.031 2843 1802 2132 2270 1994 0 0 0 0 0 0 26.51 26.48 26.53

3616 0.85 164.2 2842 1801 2269 1994 85.0 12.9 491 3624 0.00 1.05 0.00 0.000 260 0.000 0.037 2839 2507 2131 2269 1994 0 0 0 0 0 0 26.77 26.49 26.82

3662 0.85 164.2 2839 2507 2269 1994 79.3 11.9 499 3669 0.00 1.05 0.00 0.000 1030 0.000 0.031 2843 1792 2131 2269 1994 0 0 0 0 0 0 26.57 26.53 26.59

3795 0.89 192.7 2842 1792 2269 1994 66.4 8.5 524 3846 0.10 1.05 42.85 0.539 10788 0.181 0.037 2875 1110 2008 2150 1867 0 0 0 0 0 0 26.44 25.80 25.44

4078 0.93 223.7 2874 1110 2138 1864 40.5 8.3 576 4128 0.00 1.05 43.90 0.514 9254 0.000 0.029 2871 1810 1884 2029 1740 0 0 0 0 0 0 26.41 26.38 25.29

4254 0.95 243.1 2871 1810 2014 1728 23.8 9.0 607 4284 0.08 1.10 19.95 0.519 10788 0.180 0.040 2894 1109 1802 1947 1657 0 0 0 0 0 0 26.15 25.84 25.26

4495 end climb: SURFACE_DEPTH_REACHED

state 4495 begin surface coast

4502 end surface coast: CONTROL_FINISHED_OK

state 4502 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	170
DIVE	188	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	61	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	350	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	2800	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	0.0012000001	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	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
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	3	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	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	2600	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	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	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	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	284.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	130921,200155,4750.5645,-12509.2412,11,0.8,44,15.7,0.7,278.8,12,3.3	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.55	MHEAD_RNG_PITCHd_Wd	304.1,1206,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.0	D_GRID	222
GPS2	130921,200603,4750.5801,-12509.2578,3,0.8,6,15.7,0.3,321.4,12,5.0

FINISH	1.5,1.025298	_10V_AH	10.23,15.983
SM_CCo	4728,0.03,2.948,0,0,549,552.17	FG_AHR_24Vo	0.000
SM_GC	0.57,7.82,1.38,0.03,0.079,0.028,2.948,167,1991,549,-7.41,-1.53,552.17,0,0,0,0,0,0,26.33,26.29,23.80	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4753.16,-12531.89,130921,183343	MEM	210268
TT8_MAMPS	0.021721,0.148302	DATA_FILE_SIZE	33552,653
HUMID	53.85	CAP_FILE_SIZE	78426,0
INTERNAL_PRESSURE	8.7185	CFSIZE	260030464,236675072
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.081,290.31,1
_24V_AH	23.80,29.522	GPS	130921,212627,4750.975,-12509.936,3,1.0,7,15.7,0.5,276.7,12,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	236	101.83	SBE_CT	401	64	615.57
Roll_motor	25	66	40.27	WL_blue_red_Chl	1272	37	1134.51
VBD_pump_during_apogee	446	1043	11095.99	nil	0	0	0.00
VBD_pump_during_surface	197	2948	13846.25	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	0	0	0.00
Iridium_during_xfer	160	87	333.19	nil	0	0	0.00
Transponder_ping	1	420	14.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.23
TT8	1485	12	185.75
LPSleep	1028	2	23.04
TT8_Active	706	12	88.36
TT8_Sampling	1518	37	585.46
TT8_CF8	261	42	114.64
TT8_Kalman	0	0	0.00
Analog_circuits	1528	11	172.04
GPS_charging	0	0	0.00
Compass	1477	8	124.59
RAFOS	0	0	0.00
Transponder	12	30	3.80

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.80	-116.8	164	2017	682	412	0.0	0.0	0	113	0.00	0.00	-103.15	0.004	16386	0.000	0.000	164	2018	2985	2970	3001	0	0	0	0	0	0	26.33	28.83	26.40
116	-0.80	-116.8	164	2018	2972	3001	3.9	-6.9	15	139	8.35	1.02	-6.22	0.013	18724	0.208	0.067	2319	2697	3279	3279	3279	0	0	0	0	0	0	25.71	24.57	25.88
147	-0.80	-116.8	2319	2696	3281	3279	14.2	-30.0	19	155	0.00	1.02	0.00	0.000	1030	0.000	0.027	2322	1994	3279	3280	3278	0	0	0	0	0	0	26.27	26.25	26.29
283	-0.80	-116.8	2321	1993	3286	3277	35.1	-12.5	44	291	0.00	1.00	0.00	0.000	516	0.000	0.032	2322	1316	3281	3286	3277	0	0	0	0	0	0	26.58	26.32	26.63
508	-0.80	-116.8	2322	1316	3288	3276	62.3	-12.6	87	515	0.00	1.02	0.00	0.000	1030	0.000	0.031	2319	1994	3281	3287	3276	0	0	0	0	0	0	26.48	26.45	26.51
646	-0.80	-116.8	2318	1994	3290	3276	78.8	-11.7	112	654	0.00	1.02	0.00	0.000	516	0.000	0.034	2319	1313	3283	3290	3276	0	0	0	0	0	0	26.77	26.49	26.82
694	-0.80	-116.8	2318	1312	3290	3275	83.8	-10.0	120	703	0.00	1.02	0.00	0.000	1062	0.000	0.029	2316	1999	3283	3290	3276	0	0	0	0	0	0	26.58	26.54	26.59
833	-0.80	-116.8	2315	1999	3290	3275	97.2	-10.7	145	840	0.00	1.02	0.00	0.000	516	0.000	0.031	2319	1308	3283	3290	3276	0	0	0	0	0	0	26.84	26.56	26.89
904	-0.80	-116.8	2319	1308	3290	3276	105.3	-10.6	158	912	0.00	1.02	0.00	0.000	1030	0.000	0.028	2316	1997	3282	3290	3275	0	0	0	0	0	0	26.63	26.60	26.68
1032	-0.80	-116.8	2315	1997	3290	3275	117.8	-9.8	171	1039	0.00	0.00	0.00	0.000	38	0.000	0.000	2316	1997	3283	3291	3275	0	0	0	0	0	0	26.89	26.94	26.94
1163	-0.80	-116.8	2315	1997	3291	3275	131.5	-10.8	184	1171	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1997	3283	3291	3275	0	0	0	0	0	0	26.91	26.97	26.96
1292	-0.80	-116.8	2315	1997	3291	3275	145.8	-10.7	197	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1997	3283	3291	3275	0	0	0	0	0	0	26.94	27.00	26.99
1424	-0.80	-116.8	2315	1997	3291	3274	159.3	-10.0	210	1431	0.00	0.00	0.00	0.000	38	0.000	0.000	2316	1997	3283	3292	3275	0	0	0	0	0	0	26.96	27.02	27.01
1551	-0.80	-116.8	2315	1997	3291	3274	172.5	-10.4	223	1555	0.00	1.02	0.00	0.000	516	0.000	0.032	2319	1302	3282	3290	3274	0	0	0	0	0	0	26.98	26.69	27.03
1618	-0.80	-116.8	2318	1302	3291	3274	179.5	-10.5	235	1622	0.00	1.05	0.00	0.000	1030	0.000	0.030	2316	2009	3282	3291	3274	0	0	0	0	0	0	26.74	26.72	26.77
1750	-0.80	-116.8	2314	2009	3291	3274	193.5	-11.0	249	1754	0.00	1.02	0.00	0.000	516	0.000	0.031	2318	1313	3282	3291	3274	0	0	0	0	0	0	27.03	26.72	27.06
1798	-0.80	-116.8	2318	1312	3291	3274	199.6	-12.0	258	1806	0.00	1.02	0.00	0.000	1030	0.000	0.029	2315	2003	3282	3291	3274	0	0	0	0	0	0	26.76	26.74	26.79
1928	-0.80	-116.8	2314	2004	3291	3274	212.7	-10.1	271	1935	0.00	0.00	0.00	0.000	38	0.000	0.000	2315	2004	3282	3291	3274	0	0	0	0	0	0	27.00	27.05	27.05
2014	end dive: TARGET_DEPTH_EXCEEDED
state	2014	begin apogee
2019	-0.18	0.0	2314	1766	3291	3274	222.2	-10.3	280	2137	0.68	0.00	103.07	1.043	10246	0.155	0.000	2518	1764	2802	2859	2746	0	0	0	0	1	0	26.20	24.78	24.18
2137	end apogee: CONTROL_FINISHED_OK
state	2138	begin climb
2140	0.80	116.8	2517	1764	2860	2748	226.3	0.0	292	2338	1.02	0.98	190.30	0.536	10756	0.116	0.034	2839	1132	2319	2447	2192	0	0	0	0	0	0	25.17	24.89	24.57
2378	0.81	128.9	2839	1132	2421	2175	211.9	9.4	338	2389	0.00	1.05	3.40	0.681	9254	0.000	0.030	2836	1801	2277	2409	2146	0	0	0	0	0	0	25.51	25.49	24.29
2509	0.82	136.0	2835	1801	2415	2147	199.3	9.7	352	2530	0.00	1.10	15.48	0.627	8484	0.000	0.036	2830	2501	2240	2374	2107	0	0	0	0	0	0	26.13	25.60	25.00
2611	0.82	136.0	2830	2502	2364	2101	188.9	10.1	371	2618	0.00	1.00	0.00	0.000	1062	0.000	0.030	2834	1833	2232	2364	2101	0	0	0	0	0	0	26.03	25.99	26.05
2740	0.83	143.9	2833	1833	2363	2101	176.9	9.7	384	2748	0.05	0.00	4.35	0.839	10278	0.236	0.000	2842	1832	2215	2350	2080	0	0	0	0	0	0	26.17	25.87	25.22
2870	0.84	154.2	2842	1832	2352	2080	164.6	9.5	397	2897	0.00	0.00	20.23	0.614	8230	0.000	0.000	2843	1832	2166	2303	2030	0	0	0	0	0	0	26.48	25.65	25.30
3020	0.84	154.2	2842	1832	2296	2027	149.0	10.9	412	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1832	2161	2296	2027	0	0	0	0	0	0	26.45	26.51	26.51
3147	0.84	154.2	2842	1832	2295	2027	135.2	10.6	425	3149	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1832	2161	2295	2027	0	0	0	0	0	0	26.57	26.63	26.63
3268	0.84	155.8	2842	1832	2294	2027	123.5	10.1	437	3277	0.00	0.00	0.00	0.000	38	0.000	0.000	2843	1832	2160	2294	2027	0	0	0	0	0	0	26.65	26.72	26.70
3398	0.85	164.2	2842	1832	2294	2027	110.8	9.7	450	3410	0.00	1.02	3.28	0.708	8484	0.000	0.038	2840	2500	2132	2269	1995	0	0	0	0	0	0	26.72	26.12	24.96
3487	0.85	164.2	2839	2500	2270	1994	100.9	11.3	466	3491	0.00	1.02	0.00	0.000	1030	0.000	0.031	2843	1802	2132	2270	1994	0	0	0	0	0	0	26.51	26.48	26.53
3616	0.85	164.2	2842	1801	2269	1994	85.0	12.9	491	3624	0.00	1.05	0.00	0.000	260	0.000	0.037	2839	2507	2131	2269	1994	0	0	0	0	0	0	26.77	26.49	26.82
3662	0.85	164.2	2839	2507	2269	1994	79.3	11.9	499	3669	0.00	1.05	0.00	0.000	1030	0.000	0.031	2843	1792	2131	2269	1994	0	0	0	0	0	0	26.57	26.53	26.59
3795	0.89	192.7	2842	1792	2269	1994	66.4	8.5	524	3846	0.10	1.05	42.85	0.539	10788	0.181	0.037	2875	1110	2008	2150	1867	0	0	0	0	0	0	26.44	25.80	25.44
4078	0.93	223.7	2874	1110	2138	1864	40.5	8.3	576	4128	0.00	1.05	43.90	0.514	9254	0.000	0.029	2871	1810	1884	2029	1740	0	0	0	0	0	0	26.41	26.38	25.29
4254	0.95	243.1	2871	1810	2014	1728	23.8	9.0	607	4284	0.08	1.10	19.95	0.519	10788	0.180	0.040	2894	1109	1802	1947	1657	0	0	0	0	0	0	26.15	25.84	25.26
4495	end climb: SURFACE_DEPTH_REACHED
state	4495	begin surface coast
4502	end surface coast: CONTROL_FINISHED_OK
state	4502	begin surface