Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 197 * 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 197 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 54 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 48 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 54 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

DIVE 197 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 140921,093847,4751.1372,-12509.9521,4,1.0,5,15.7,0.6,295.7,8,9.8 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 0.56 MHEAD_RNG_PITCHd_Wd 146.4,280,-25.9,-10.145,-30.00,975

_SM_ANGLEo -64.3 D_GRID 264

GPS2 140921,094234,4751.1509,-12509.9941,4,0.8,6,15.7,0.1,0.0,10,5.2

Post-dive calculations and measurements:

FINISH -0.5,1.014223 _10V_AH 10.23,16.528

SM_CCo 4655,-0.25,0.187,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.52,7.93,0.28,-0.25,0.059,0.050,0.187,179,2007,550,-7.39,-1.53,551.92,0,0,0,0,0,0,25.94,25.89,25.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,140921,081035 MEM 209720

TT8_MAMPS 0.021721,0.145306 DATA_FILE_SIZE 33558,678

HUMID 53.70 CAP_FILE_SIZE 79886,0

INTERNAL_PRESSURE 8.72826 CFSIZE 260030464,236199936

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.054,316.63,1

ALTIM_BOTTOM_PING 211.0,38.2 GPS 140921,110201,4750.914,-12509.891,12,1.1,22,15.7,0.5,356.3,8,2.7

_24V_AH 24.06,30.530

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 202 89.50 SBE_CT 390 64 605.73

Roll_motor 31 58 43.68 WL_blue_red_Chl 1238 37 1116.34

VBD_pump_during_apogee 464 578 6461.02 nil 0 0 0.00

VBD_pump_during_surface 194 612 2865.80 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 139 91 305.00 nil 0 0 0.00

Transponder_ping 1 420 17.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.20

TT8 1482 12 185.28

LPSleep 925 2 20.74

TT8_Active 701 12 87.69

TT8_Sampling 1539 37 593.40

TT8_CF8 259 42 114.08

TT8_Kalman 0 0 0.00

Analog_circuits 1506 11 169.50

GPS_charging 0 0 0.00

Compass 1505 8 126.92

RAFOS 0 0 0.00

Transponder 15 30 4.68

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

8 -1.00 -64.7 157 2015 691 410 0.0 0.0 0 109 0.00 0.00 -98.80 0.004 16386 0.000 0.000 157 2015 2875 2870 2880 0 0 0 0 0 0 26.28 28.83 26.34

112 -1.05 -101.5 157 2015 2871 2881 3.6 -6.3 14 136 8.00 1.08 -7.70 0.011 18980 0.203 0.058 2249 1309 3213 3218 3208 0 0 0 0 0 0 25.63 25.57 25.83

282 -1.05 -101.5 2248 1309 3222 3208 34.1 -16.5 45 289 0.00 1.05 0.00 0.000 1030 0.000 0.030 2245 2005 3215 3222 3208 0 0 0 0 0 0 26.35 26.32 26.38

418 -1.05 -101.5 2245 2005 3224 3208 55.2 -16.3 70 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2005 3216 3224 3208 0 0 0 0 0 0 26.66 26.72 26.72

549 -1.05 -101.5 2245 2005 3224 3207 76.2 -13.0 95 557 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2006 3216 3224 3208 0 0 0 0 0 0 26.73 26.79 26.77

681 -1.05 -101.5 2245 2005 3225 3208 93.8 -10.5 120 689 0.00 1.05 0.00 0.000 516 0.000 0.033 2249 1300 3216 3225 3207 0 0 0 0 0 0 26.78 26.51 26.85

837 -1.05 -101.5 2248 1299 3225 3207 112.6 -12.5 149 846 0.00 1.05 0.00 0.000 1030 0.000 0.030 2246 2002 3216 3225 3207 0 0 0 0 0 0 26.60 26.57 26.63

966 -1.05 -101.5 2245 2001 3226 3207 127.8 -12.5 162 969 0.00 1.02 0.00 0.000 260 0.000 0.037 2241 2707 3216 3226 3207 0 0 0 0 0 0 26.86 26.58 26.92

1032 -1.05 -101.5 2240 2707 3227 3207 136.3 -12.4 175 1041 0.00 1.02 0.00 0.000 1030 0.000 0.026 2244 1975 3216 3226 3207 0 0 0 0 0 0 26.68 26.65 26.71

1160 -1.05 -101.5 2243 1975 3226 3207 151.1 -11.5 188 1166 0.00 0.95 0.00 0.000 516 0.000 0.033 2249 1321 3216 3226 3207 0 0 0 0 0 0 26.91 26.63 26.96

1337 -1.05 -101.5 2248 1322 3226 3207 171.9 -11.2 220 1341 0.00 1.00 0.00 0.000 1030 0.000 0.029 2246 2003 3216 3226 3206 0 0 0 0 0 0 26.72 26.70 26.74

1469 -1.05 -101.5 2245 2003 3226 3206 187.4 -11.6 234 1473 0.00 1.00 0.00 0.000 516 0.000 0.032 2249 1324 3215 3225 3206 0 0 0 0 0 0 26.99 26.67 27.02

1677 -1.05 -101.5 2248 1324 3226 3206 212.4 -11.8 273 1686 0.00 1.00 0.00 0.000 1030 0.000 0.029 2246 2000 3216 3226 3206 0 0 0 0 0 0 26.76 26.72 26.78

1806 -1.05 -101.5 2245 2000 3226 3206 227.8 -13.0 286 1810 0.00 1.00 0.00 0.000 516 0.000 0.033 2249 1322 3216 3226 3206 0 0 0 0 0 0 27.02 26.72 27.07

1816 end dive: BOTTOM_OBSTACLE_DETECTED

state 1816 begin apogee

1822 -0.18 0.0 2247 1821 3226 3205 229.3 -13.3 288 1978 0.90 0.00 148.30 0.572 10246 0.153 0.000 2517 1822 2790 2841 2740 0 0 0 0 0 0 26.15 25.21 24.87

1979 end apogee: CONTROL_FINISHED_OK

state 1979 begin climb

1981 1.05 101.5 2517 1822 2836 2735 235.8 0.0 304 2141 1.27 1.15 150.57 0.562 10756 0.113 0.035 2918 1124 2380 2496 2265 0 0 0 0 0 0 25.40 25.14 24.63

2165 1.05 101.5 2918 1124 2484 2256 223.9 10.3 336 2169 0.00 1.05 0.00 0.000 1030 0.000 0.031 2916 1793 2369 2483 2256 0 0 0 0 0 0 25.53 25.48 25.53

2297 1.05 101.5 2916 1793 2479 2253 208.9 11.5 350 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2917 1793 2366 2479 2253 0 0 0 0 0 0 26.18 26.22 26.22

2418 1.05 101.5 2916 1793 2477 2252 195.5 11.4 362 2421 0.00 1.05 0.00 0.000 516 0.000 0.039 2919 1120 2364 2476 2253 0 0 0 0 0 0 26.38 26.11 26.44

2591 1.05 101.5 2918 1120 2475 2253 175.7 10.6 395 2599 0.00 1.02 0.00 0.000 1030 0.000 0.030 2916 1797 2364 2475 2253 0 0 0 0 0 0 26.34 26.32 26.37

2719 1.05 101.5 2915 1797 2474 2252 162.0 10.7 408 2723 0.00 1.02 0.00 0.000 260 0.000 0.038 2911 2487 2363 2474 2252 0 0 0 0 0 0 26.65 26.36 26.71

2754 1.05 101.5 2910 2487 2471 2252 158.0 10.4 415 2763 0.00 0.98 0.00 0.000 1030 0.000 0.030 2914 1817 2362 2473 2252 0 0 0 0 0 0 26.45 26.43 26.48

2883 1.06 110.1 2913 1817 2473 2252 145.6 9.2 428 2888 0.00 1.08 0.00 0.000 548 0.000 0.040 2919 1103 2362 2472 2252 0 0 0 0 0 0 26.73 26.44 26.79

2929 1.06 110.4 2919 1103 2472 2253 141.2 10.1 436 2933 0.00 1.05 0.00 0.000 1062 0.000 0.031 2916 1799 2362 2472 2252 0 0 0 0 0 0 26.52 26.49 26.55

3063 1.06 110.4 2915 1798 2471 2252 128.3 10.2 450 3070 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 1798 2361 2471 2252 0 0 0 0 0 0 26.80 26.86 26.85

3191 1.06 110.4 2916 1798 2470 2252 114.1 11.4 463 3195 0.00 1.05 0.00 0.000 516 0.000 0.039 2919 1107 2362 2471 2253 0 0 0 0 0 0 26.84 26.54 26.89

3237 1.06 110.4 2919 1107 2470 2253 108.7 12.7 471 3242 0.00 1.05 0.00 0.000 1030 0.000 0.031 2916 1808 2361 2471 2252 0 0 0 0 0 0 26.62 26.59 26.63

3365 1.06 110.4 2916 1808 2469 2252 93.0 12.0 490 3373 0.00 1.00 0.00 0.000 260 0.000 0.038 2911 2493 2360 2469 2252 0 0 0 0 0 0 26.89 26.58 26.94

3407 1.06 110.4 2911 2493 2468 2252 87.8 12.1 497 3414 0.00 1.00 0.00 0.000 1030 0.000 0.031 2914 1807 2360 2468 2252 0 0 0 0 0 0 26.66 26.63 26.67

3544 1.07 125.0 2914 1807 2469 2252 72.9 8.6 522 3574 0.00 1.12 24.15 0.578 8740 0.000 0.039 2920 1089 2284 2404 2164 0 0 0 0 0 0 26.92 26.23 25.63

3638 1.09 134.9 2919 1089 2389 2154 65.1 9.1 538 3646 0.00 1.08 2.55 0.454 9254 0.000 0.029 2917 1801 2251 2375 2128 0 0 0 0 0 0 26.46 26.44 25.03

3775 1.11 154.8 2916 1801 2380 2128 54.4 8.0 563 3812 0.10 1.08 31.12 0.545 10532 0.162 0.037 2937 2499 2163 2292 2035 0 0 0 0 0 0 26.38 26.02 25.44

3999 1.12 162.4 2936 2499 2275 2021 30.6 9.4 604 4006 0.00 1.05 0.00 0.000 1062 0.000 0.032 2940 1790 2147 2274 2020 0 0 0 0 0 0 26.36 26.36 26.40

4138 1.15 185.1 2939 1790 2274 2019 17.8 7.7 629 4181 0.00 1.12 38.47 0.513 8484 0.000 0.036 2936 2509 2044 2183 1905 0 0 0 0 0 0 26.69 25.92 25.39

4194 1.15 190.7 2936 2509 2168 1889 12.7 9.6 637 4202 0.00 1.05 0.00 0.000 1062 0.000 0.031 2940 1807 2027 2167 1888 0 0 0 0 0 0 26.14 26.11 26.15

4327 1.23 252.4 2939 1807 2162 1884 5.5 3.6 662 4399 0.15 0.00 69.15 0.485 11042 0.152 0.000 2985 1808 1857 2002 1713 0 0 0 0 0 0 26.06 28.83 26.15

4400 end climb: SURFACE_DEPTH_REACHED

state 4400 begin surface coast

4432 end surface coast: CONTROL_FINISHED_OK

state 4432 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	197	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	54	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	48	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	140921,093847,4751.1372,-12509.9521,4,1.0,5,15.7,0.6,295.7,8,9.8	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	0.56	MHEAD_RNG_PITCHd_Wd	146.4,280,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-64.3	D_GRID	264
GPS2	140921,094234,4751.1509,-12509.9941,4,0.8,6,15.7,0.1,0.0,10,5.2

FINISH	-0.5,1.014223	_10V_AH	10.23,16.528
SM_CCo	4655,-0.25,0.187,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.52,7.93,0.28,-0.25,0.059,0.050,0.187,179,2007,550,-7.39,-1.53,551.92,0,0,0,0,0,0,25.94,25.89,25.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,140921,081035	MEM	209720
TT8_MAMPS	0.021721,0.145306	DATA_FILE_SIZE	33558,678
HUMID	53.70	CAP_FILE_SIZE	79886,0
INTERNAL_PRESSURE	8.72826	CFSIZE	260030464,236199936
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.054,316.63,1
ALTIM_BOTTOM_PING	211.0,38.2	GPS	140921,110201,4750.914,-12509.891,12,1.1,22,15.7,0.5,356.3,8,2.7
_24V_AH	24.06,30.530

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	202	89.50	SBE_CT	390	64	605.73
Roll_motor	31	58	43.68	WL_blue_red_Chl	1238	37	1116.34
VBD_pump_during_apogee	464	578	6461.02	nil	0	0	0.00
VBD_pump_during_surface	194	612	2865.80	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	139	91	305.00	nil	0	0	0.00
Transponder_ping	1	420	17.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.20
TT8	1482	12	185.28
LPSleep	925	2	20.74
TT8_Active	701	12	87.69
TT8_Sampling	1539	37	593.40
TT8_CF8	259	42	114.08
TT8_Kalman	0	0	0.00
Analog_circuits	1506	11	169.50
GPS_charging	0	0	0.00
Compass	1505	8	126.92
RAFOS	0	0	0.00
Transponder	15	30	4.68

		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
8	-1.00	-64.7	157	2015	691	410	0.0	0.0	0	109	0.00	0.00	-98.80	0.004	16386	0.000	0.000	157	2015	2875	2870	2880	0	0	0	0	0	0	26.28	28.83	26.34
112	-1.05	-101.5	157	2015	2871	2881	3.6	-6.3	14	136	8.00	1.08	-7.70	0.011	18980	0.203	0.058	2249	1309	3213	3218	3208	0	0	0	0	0	0	25.63	25.57	25.83
282	-1.05	-101.5	2248	1309	3222	3208	34.1	-16.5	45	289	0.00	1.05	0.00	0.000	1030	0.000	0.030	2245	2005	3215	3222	3208	0	0	0	0	0	0	26.35	26.32	26.38
418	-1.05	-101.5	2245	2005	3224	3208	55.2	-16.3	70	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2005	3216	3224	3208	0	0	0	0	0	0	26.66	26.72	26.72
549	-1.05	-101.5	2245	2005	3224	3207	76.2	-13.0	95	557	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2006	3216	3224	3208	0	0	0	0	0	0	26.73	26.79	26.77
681	-1.05	-101.5	2245	2005	3225	3208	93.8	-10.5	120	689	0.00	1.05	0.00	0.000	516	0.000	0.033	2249	1300	3216	3225	3207	0	0	0	0	0	0	26.78	26.51	26.85
837	-1.05	-101.5	2248	1299	3225	3207	112.6	-12.5	149	846	0.00	1.05	0.00	0.000	1030	0.000	0.030	2246	2002	3216	3225	3207	0	0	0	0	0	0	26.60	26.57	26.63
966	-1.05	-101.5	2245	2001	3226	3207	127.8	-12.5	162	969	0.00	1.02	0.00	0.000	260	0.000	0.037	2241	2707	3216	3226	3207	0	0	0	0	0	0	26.86	26.58	26.92
1032	-1.05	-101.5	2240	2707	3227	3207	136.3	-12.4	175	1041	0.00	1.02	0.00	0.000	1030	0.000	0.026	2244	1975	3216	3226	3207	0	0	0	0	0	0	26.68	26.65	26.71
1160	-1.05	-101.5	2243	1975	3226	3207	151.1	-11.5	188	1166	0.00	0.95	0.00	0.000	516	0.000	0.033	2249	1321	3216	3226	3207	0	0	0	0	0	0	26.91	26.63	26.96
1337	-1.05	-101.5	2248	1322	3226	3207	171.9	-11.2	220	1341	0.00	1.00	0.00	0.000	1030	0.000	0.029	2246	2003	3216	3226	3206	0	0	0	0	0	0	26.72	26.70	26.74
1469	-1.05	-101.5	2245	2003	3226	3206	187.4	-11.6	234	1473	0.00	1.00	0.00	0.000	516	0.000	0.032	2249	1324	3215	3225	3206	0	0	0	0	0	0	26.99	26.67	27.02
1677	-1.05	-101.5	2248	1324	3226	3206	212.4	-11.8	273	1686	0.00	1.00	0.00	0.000	1030	0.000	0.029	2246	2000	3216	3226	3206	0	0	0	0	0	0	26.76	26.72	26.78
1806	-1.05	-101.5	2245	2000	3226	3206	227.8	-13.0	286	1810	0.00	1.00	0.00	0.000	516	0.000	0.033	2249	1322	3216	3226	3206	0	0	0	0	0	0	27.02	26.72	27.07
1816	end dive: BOTTOM_OBSTACLE_DETECTED
state	1816	begin apogee
1822	-0.18	0.0	2247	1821	3226	3205	229.3	-13.3	288	1978	0.90	0.00	148.30	0.572	10246	0.153	0.000	2517	1822	2790	2841	2740	0	0	0	0	0	0	26.15	25.21	24.87
1979	end apogee: CONTROL_FINISHED_OK
state	1979	begin climb
1981	1.05	101.5	2517	1822	2836	2735	235.8	0.0	304	2141	1.27	1.15	150.57	0.562	10756	0.113	0.035	2918	1124	2380	2496	2265	0	0	0	0	0	0	25.40	25.14	24.63
2165	1.05	101.5	2918	1124	2484	2256	223.9	10.3	336	2169	0.00	1.05	0.00	0.000	1030	0.000	0.031	2916	1793	2369	2483	2256	0	0	0	0	0	0	25.53	25.48	25.53
2297	1.05	101.5	2916	1793	2479	2253	208.9	11.5	350	2299	0.00	0.00	0.00	0.000	6	0.000	0.000	2917	1793	2366	2479	2253	0	0	0	0	0	0	26.18	26.22	26.22
2418	1.05	101.5	2916	1793	2477	2252	195.5	11.4	362	2421	0.00	1.05	0.00	0.000	516	0.000	0.039	2919	1120	2364	2476	2253	0	0	0	0	0	0	26.38	26.11	26.44
2591	1.05	101.5	2918	1120	2475	2253	175.7	10.6	395	2599	0.00	1.02	0.00	0.000	1030	0.000	0.030	2916	1797	2364	2475	2253	0	0	0	0	0	0	26.34	26.32	26.37
2719	1.05	101.5	2915	1797	2474	2252	162.0	10.7	408	2723	0.00	1.02	0.00	0.000	260	0.000	0.038	2911	2487	2363	2474	2252	0	0	0	0	0	0	26.65	26.36	26.71
2754	1.05	101.5	2910	2487	2471	2252	158.0	10.4	415	2763	0.00	0.98	0.00	0.000	1030	0.000	0.030	2914	1817	2362	2473	2252	0	0	0	0	0	0	26.45	26.43	26.48
2883	1.06	110.1	2913	1817	2473	2252	145.6	9.2	428	2888	0.00	1.08	0.00	0.000	548	0.000	0.040	2919	1103	2362	2472	2252	0	0	0	0	0	0	26.73	26.44	26.79
2929	1.06	110.4	2919	1103	2472	2253	141.2	10.1	436	2933	0.00	1.05	0.00	0.000	1062	0.000	0.031	2916	1799	2362	2472	2252	0	0	0	0	0	0	26.52	26.49	26.55
3063	1.06	110.4	2915	1798	2471	2252	128.3	10.2	450	3070	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	1798	2361	2471	2252	0	0	0	0	0	0	26.80	26.86	26.85
3191	1.06	110.4	2916	1798	2470	2252	114.1	11.4	463	3195	0.00	1.05	0.00	0.000	516	0.000	0.039	2919	1107	2362	2471	2253	0	0	0	0	0	0	26.84	26.54	26.89
3237	1.06	110.4	2919	1107	2470	2253	108.7	12.7	471	3242	0.00	1.05	0.00	0.000	1030	0.000	0.031	2916	1808	2361	2471	2252	0	0	0	0	0	0	26.62	26.59	26.63
3365	1.06	110.4	2916	1808	2469	2252	93.0	12.0	490	3373	0.00	1.00	0.00	0.000	260	0.000	0.038	2911	2493	2360	2469	2252	0	0	0	0	0	0	26.89	26.58	26.94
3407	1.06	110.4	2911	2493	2468	2252	87.8	12.1	497	3414	0.00	1.00	0.00	0.000	1030	0.000	0.031	2914	1807	2360	2468	2252	0	0	0	0	0	0	26.66	26.63	26.67
3544	1.07	125.0	2914	1807	2469	2252	72.9	8.6	522	3574	0.00	1.12	24.15	0.578	8740	0.000	0.039	2920	1089	2284	2404	2164	0	0	0	0	0	0	26.92	26.23	25.63
3638	1.09	134.9	2919	1089	2389	2154	65.1	9.1	538	3646	0.00	1.08	2.55	0.454	9254	0.000	0.029	2917	1801	2251	2375	2128	0	0	0	0	0	0	26.46	26.44	25.03
3775	1.11	154.8	2916	1801	2380	2128	54.4	8.0	563	3812	0.10	1.08	31.12	0.545	10532	0.162	0.037	2937	2499	2163	2292	2035	0	0	0	0	0	0	26.38	26.02	25.44
3999	1.12	162.4	2936	2499	2275	2021	30.6	9.4	604	4006	0.00	1.05	0.00	0.000	1062	0.000	0.032	2940	1790	2147	2274	2020	0	0	0	0	0	0	26.36	26.36	26.40
4138	1.15	185.1	2939	1790	2274	2019	17.8	7.7	629	4181	0.00	1.12	38.47	0.513	8484	0.000	0.036	2936	2509	2044	2183	1905	0	0	0	0	0	0	26.69	25.92	25.39
4194	1.15	190.7	2936	2509	2168	1889	12.7	9.6	637	4202	0.00	1.05	0.00	0.000	1062	0.000	0.031	2940	1807	2027	2167	1888	0	0	0	0	0	0	26.14	26.11	26.15
4327	1.23	252.4	2939	1807	2162	1884	5.5	3.6	662	4399	0.15	0.00	69.15	0.485	11042	0.152	0.000	2985	1808	1857	2002	1713	0	0	0	0	0	0	26.06	28.83	26.15
4400	end climb: SURFACE_DEPTH_REACHED
state	4400	begin surface coast
4432	end surface coast: CONTROL_FINISHED_OK
state	4432	begin surface