Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 198 * 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 198 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 56 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 56 XPDR_INHIBIT 90

DIVE 198 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 140921,110201,4750.9136,-12509.8906,12,1.1,22,15.7,0.5,356.3,8,2.7 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 0.50 MHEAD_RNG_PITCHd_Wd 299.8,155,-25.9,-10.145,-30.00,975

_SM_ANGLEo -63.5 D_GRID 264

GPS2 140921,110544,4750.9399,-12509.9131,3,0.9,5,15.7,0.1,0.0,12,9.6

Post-dive calculations and measurements:

FINISH -0.2,1.025374 _10V_AH 10.23,16.585

SM_CCo 4714,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.45,7.88,1.40,0.00,0.061,0.028,0.000,162,2001,550,-7.41,-1.39,551.92,0,0,0,0,0,0,26.00,25.93,25.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,140921,094018 MEM 209708

TT8_MAMPS 0.021721,0.143808 DATA_FILE_SIZE 33538,664

HUMID 53.85 CAP_FILE_SIZE 78459,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,236150784

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.074,334.64,1

ALTIM_BOTTOM_PING 235.4,16.0 GPS 140921,122557,4751.396,-12510.321,3,1.0,5,15.7,0.2,0.0,11,9.3

_24V_AH 24.22,30.638

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 91.30 SBE_CT 396 64 619.28

Roll_motor 31 58 44.57 WL_blue_red_Chl 1258 37 1141.60

VBD_pump_during_apogee 455 559 6179.17 nil 0 0 0.00

VBD_pump_during_surface 206 613 3067.41 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 87 293.60 nil 0 0 0.00

Transponder_ping 2 420 22.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.24

TT8 1484 12 185.54

LPSleep 987 2 22.12

TT8_Active 718 12 89.83

TT8_Sampling 1523 37 587.29

TT8_CF8 254 42 111.74

TT8_Kalman 0 0 0.00

Analog_circuits 1515 11 170.53

GPS_charging 0 0 0.00

Compass 1492 8 125.81

RAFOS 0 0 0.00

Transponder 18 30 5.65

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -1.00 -64.7 162 2014 689 411 0.0 0.0 0 108 0.00 0.00 -98.85 0.004 16386 0.000 0.000 162 2011 2863 2857 2870 0 0 0 0 0 0 26.31 28.83 26.37

111 -1.04 -100.8 162 2011 2858 2869 3.6 -6.3 14 135 8.02 1.05 -8.15 0.011 18980 0.207 0.058 2249 1298 3213 3218 3209 0 0 0 0 0 0 25.63 25.57 25.84

148 -1.04 -100.8 2248 1299 3219 3209 11.5 -17.8 19 157 0.00 1.05 0.00 0.000 1030 0.000 0.028 2246 1999 3215 3221 3209 0 0 0 0 0 0 26.26 26.22 26.28

281 -1.04 -100.8 2245 2000 3223 3208 33.7 -18.3 44 288 0.00 1.02 0.00 0.000 260 0.000 0.036 2241 2697 3216 3224 3208 0 0 0 0 0 0 26.58 26.31 26.63

529 -1.04 -100.8 2240 2696 3225 3209 74.2 -12.0 90 536 0.00 1.02 0.00 0.000 1030 0.000 0.026 2244 1976 3216 3225 3208 0 0 0 0 0 0 26.53 26.50 26.54

660 -1.04 -100.8 2242 1975 3226 3208 88.8 -10.3 115 668 0.00 1.08 0.00 0.000 260 0.000 0.035 2241 2700 3216 3225 3208 0 0 0 0 0 0 26.78 26.50 26.83

739 -1.05 -105.3 2240 2699 3226 3208 96.5 -9.7 129 747 0.00 1.00 0.00 0.000 1062 0.000 0.028 2243 1997 3217 3226 3208 0 0 0 0 0 0 26.60 26.58 26.65

870 -1.05 -105.3 2243 1997 3226 3208 110.1 -11.6 145 874 0.00 1.00 0.00 0.000 516 0.000 0.034 2249 1314 3217 3226 3208 0 0 0 0 0 0 26.84 26.56 26.90

923 -1.05 -105.3 2248 1314 3226 3208 116.5 -12.0 155 928 0.00 1.02 0.00 0.000 1030 0.000 0.030 2246 2005 3216 3226 3207 0 0 0 0 0 0 26.63 26.61 26.65

1058 -1.05 -105.3 2245 2005 3227 3207 133.3 -12.7 169 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2005 3217 3227 3208 0 0 0 0 0 0 26.89 26.96 26.94

1186 -1.05 -105.3 2244 2005 3227 3207 150.0 -12.9 182 1189 0.00 1.02 0.00 0.000 516 0.000 0.033 2249 1314 3217 3227 3207 0 0 0 0 0 0 26.92 26.63 26.97

1240 -1.05 -105.3 2248 1314 3227 3207 156.8 -12.8 192 1244 0.00 1.02 0.00 0.000 1030 0.000 0.030 2246 2004 3217 3227 3207 0 0 0 0 0 0 26.70 26.67 26.74

1372 -1.05 -105.3 2245 2004 3227 3207 173.6 -12.9 206 1376 0.00 1.02 0.00 0.000 516 0.000 0.032 2249 1313 3217 3227 3207 0 0 0 0 0 0 26.96 26.65 27.01

1437 -1.05 -105.3 2248 1312 3227 3208 182.0 -13.1 218 1441 0.00 1.02 0.00 0.000 1030 0.000 0.030 2246 2004 3217 3227 3207 0 0 0 0 0 0 26.72 26.70 26.74

1570 -1.05 -105.3 2245 2004 3227 3207 198.5 -12.1 232 1578 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2004 3217 3227 3207 0 0 0 0 0 0 26.98 27.04 27.03

1700 -1.05 -105.3 2245 2004 3227 3207 214.0 -11.8 245 1704 0.00 1.02 0.00 0.000 516 0.000 0.032 2248 1312 3217 3227 3207 0 0 0 0 0 0 26.97 26.69 27.02

1831 -1.05 -105.3 2248 1312 3227 3206 230.0 -12.0 269 1835 0.00 1.02 0.00 0.000 1030 0.000 0.031 2245 2003 3216 3227 3206 0 0 0 0 0 0 26.77 26.74 26.79

1874 end dive: BOTTOM_OBSTACLE_DETECTED

state 1874 begin apogee

1879 -0.18 0.0 2245 1785 3227 3205 235.4 -12.7 274 2044 0.93 0.00 160.18 0.560 10246 0.157 0.000 2521 1784 2799 2851 2748 0 0 0 0 0 0 26.13 25.36 24.84

2045 end apogee: CONTROL_FINISHED_OK

state 2045 begin climb

2047 1.05 105.3 2520 1784 2843 2740 241.3 0.0 291 2214 1.27 0.00 157.10 0.558 10758 0.116 0.000 2915 1784 2362 2480 2245 0 0 0 0 0 0 25.36 24.93 24.60

2335 1.05 105.3 2914 1784 2459 2224 218.8 10.9 332 2340 0.00 1.02 0.00 0.000 516 0.000 0.039 2920 1131 2341 2459 2224 0 0 0 0 0 0 26.06 25.82 26.11

2411 1.05 105.3 2919 1131 2457 2224 209.5 11.5 347 2419 0.00 1.02 0.00 0.000 1030 0.000 0.031 2917 1799 2340 2457 2224 0 0 0 0 0 0 26.03 26.02 26.06

2542 1.05 105.3 2916 1798 2455 2223 194.9 11.7 360 2546 0.00 1.05 0.00 0.000 260 0.000 0.038 2912 2494 2339 2455 2223 0 0 0 0 0 0 26.46 26.17 26.48

2616 1.05 105.3 2911 2495 2453 2223 186.0 11.3 374 2620 0.00 0.98 0.00 0.000 1030 0.000 0.030 2915 1831 2337 2453 2222 0 0 0 0 0 0 26.30 26.30 26.33

2750 1.05 105.3 2914 1832 2453 2223 170.8 12.0 388 2758 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1831 2338 2453 2223 0 0 0 0 0 0 26.62 26.68 26.67

2878 1.05 105.3 2914 1832 2452 2222 155.9 11.0 401 2882 0.00 1.12 0.00 0.000 516 0.000 0.041 2920 1094 2337 2452 2223 0 0 0 0 0 0 26.70 26.40 26.74

2913 1.05 105.3 2920 1094 2452 2223 151.6 11.0 408 2922 0.00 1.08 0.00 0.000 1030 0.000 0.029 2918 1811 2337 2452 2223 0 0 0 0 0 0 26.49 26.46 26.51

3042 1.05 105.3 2916 1811 2451 2222 137.7 10.9 421 3050 0.00 0.00 0.00 0.000 6 0.000 0.000 2917 1811 2337 2451 2223 0 0 0 0 0 0 26.77 26.83 26.82

3171 1.05 105.3 2917 1811 2450 2223 123.5 10.3 434 3176 0.00 1.02 0.00 0.000 260 0.000 0.041 2912 2501 2336 2450 2222 0 0 0 0 0 0 26.81 26.50 26.86

3312 1.05 105.3 2911 2501 2448 2222 108.0 11.4 461 3319 0.00 1.02 0.00 0.000 1030 0.000 0.031 2915 1800 2335 2449 2222 0 0 0 0 0 0 26.62 26.61 26.65

3440 1.05 105.3 2914 1799 2448 2223 92.3 13.3 479 3447 0.00 1.05 0.00 0.000 516 0.000 0.041 2920 1110 2335 2448 2223 0 0 0 0 0 0 26.89 26.60 26.94

3509 1.05 105.3 2920 1110 2448 2223 83.4 12.3 491 3517 0.00 1.02 0.00 0.000 1030 0.000 0.031 2918 1797 2335 2448 2222 0 0 0 0 0 0 26.66 26.63 26.68

3646 1.05 105.3 2917 1797 2447 2222 65.5 11.9 516 3655 0.00 1.02 0.00 0.000 260 0.000 0.038 2912 2490 2334 2447 2222 0 0 0 0 0 0 26.92 26.62 26.98

3775 1.09 139.9 2911 2490 2445 2222 55.2 6.5 540 3826 0.03 1.00 43.05 0.538 11302 0.163 0.029 2927 1802 2225 2350 2100 0 0 0 0 0 0 26.51 26.69 25.52

3953 1.09 140.4 2926 1802 2325 2075 40.6 10.1 571 3961 0.00 1.08 0.00 0.000 548 0.000 0.041 2931 1105 2200 2325 2076 0 0 0 0 0 0 26.61 26.32 26.66

4199 1.12 160.9 2930 1105 2323 2075 16.7 8.0 617 4228 0.00 1.05 19.20 0.534 9254 0.000 0.031 2928 1799 2136 2265 2007 0 0 0 0 0 0 26.52 26.48 25.53

4355 1.18 210.3 2928 1799 2249 1989 6.7 4.9 645 4440 0.12 1.05 76.07 0.480 10788 0.161 0.038 2964 1110 1932 2070 1794 0 0 0 0 0 0 26.19 25.50 25.18

4445 end climb: SURFACE_DEPTH_REACHED

state 4446 begin surface coast

4478 end surface coast: CONTROL_FINISHED_OK

state 4478 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	198	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	56	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	140921,110201,4750.9136,-12509.8906,12,1.1,22,15.7,0.5,356.3,8,2.7	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	0.50	MHEAD_RNG_PITCHd_Wd	299.8,155,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-63.5	D_GRID	264
GPS2	140921,110544,4750.9399,-12509.9131,3,0.9,5,15.7,0.1,0.0,12,9.6

FINISH	-0.2,1.025374	_10V_AH	10.23,16.585
SM_CCo	4714,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.45,7.88,1.40,0.00,0.061,0.028,0.000,162,2001,550,-7.41,-1.39,551.92,0,0,0,0,0,0,26.00,25.93,25.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,140921,094018	MEM	209708
TT8_MAMPS	0.021721,0.143808	DATA_FILE_SIZE	33538,664
HUMID	53.85	CAP_FILE_SIZE	78459,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,236150784
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.074,334.64,1
ALTIM_BOTTOM_PING	235.4,16.0	GPS	140921,122557,4751.396,-12510.321,3,1.0,5,15.7,0.2,0.0,11,9.3
_24V_AH	24.22,30.638

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	91.30	SBE_CT	396	64	619.28
Roll_motor	31	58	44.57	WL_blue_red_Chl	1258	37	1141.60
VBD_pump_during_apogee	455	559	6179.17	nil	0	0	0.00
VBD_pump_during_surface	206	613	3067.41	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	87	293.60	nil	0	0	0.00
Transponder_ping	2	420	22.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.24
TT8	1484	12	185.54
LPSleep	987	2	22.12
TT8_Active	718	12	89.83
TT8_Sampling	1523	37	587.29
TT8_CF8	254	42	111.74
TT8_Kalman	0	0	0.00
Analog_circuits	1515	11	170.53
GPS_charging	0	0	0.00
Compass	1492	8	125.81
RAFOS	0	0	0.00
Transponder	18	30	5.65

		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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-1.00	-64.7	162	2014	689	411	0.0	0.0	0	108	0.00	0.00	-98.85	0.004	16386	0.000	0.000	162	2011	2863	2857	2870	0	0	0	0	0	0	26.31	28.83	26.37
111	-1.04	-100.8	162	2011	2858	2869	3.6	-6.3	14	135	8.02	1.05	-8.15	0.011	18980	0.207	0.058	2249	1298	3213	3218	3209	0	0	0	0	0	0	25.63	25.57	25.84
148	-1.04	-100.8	2248	1299	3219	3209	11.5	-17.8	19	157	0.00	1.05	0.00	0.000	1030	0.000	0.028	2246	1999	3215	3221	3209	0	0	0	0	0	0	26.26	26.22	26.28
281	-1.04	-100.8	2245	2000	3223	3208	33.7	-18.3	44	288	0.00	1.02	0.00	0.000	260	0.000	0.036	2241	2697	3216	3224	3208	0	0	0	0	0	0	26.58	26.31	26.63
529	-1.04	-100.8	2240	2696	3225	3209	74.2	-12.0	90	536	0.00	1.02	0.00	0.000	1030	0.000	0.026	2244	1976	3216	3225	3208	0	0	0	0	0	0	26.53	26.50	26.54
660	-1.04	-100.8	2242	1975	3226	3208	88.8	-10.3	115	668	0.00	1.08	0.00	0.000	260	0.000	0.035	2241	2700	3216	3225	3208	0	0	0	0	0	0	26.78	26.50	26.83
739	-1.05	-105.3	2240	2699	3226	3208	96.5	-9.7	129	747	0.00	1.00	0.00	0.000	1062	0.000	0.028	2243	1997	3217	3226	3208	0	0	0	0	0	0	26.60	26.58	26.65
870	-1.05	-105.3	2243	1997	3226	3208	110.1	-11.6	145	874	0.00	1.00	0.00	0.000	516	0.000	0.034	2249	1314	3217	3226	3208	0	0	0	0	0	0	26.84	26.56	26.90
923	-1.05	-105.3	2248	1314	3226	3208	116.5	-12.0	155	928	0.00	1.02	0.00	0.000	1030	0.000	0.030	2246	2005	3216	3226	3207	0	0	0	0	0	0	26.63	26.61	26.65
1058	-1.05	-105.3	2245	2005	3227	3207	133.3	-12.7	169	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2005	3217	3227	3208	0	0	0	0	0	0	26.89	26.96	26.94
1186	-1.05	-105.3	2244	2005	3227	3207	150.0	-12.9	182	1189	0.00	1.02	0.00	0.000	516	0.000	0.033	2249	1314	3217	3227	3207	0	0	0	0	0	0	26.92	26.63	26.97
1240	-1.05	-105.3	2248	1314	3227	3207	156.8	-12.8	192	1244	0.00	1.02	0.00	0.000	1030	0.000	0.030	2246	2004	3217	3227	3207	0	0	0	0	0	0	26.70	26.67	26.74
1372	-1.05	-105.3	2245	2004	3227	3207	173.6	-12.9	206	1376	0.00	1.02	0.00	0.000	516	0.000	0.032	2249	1313	3217	3227	3207	0	0	0	0	0	0	26.96	26.65	27.01
1437	-1.05	-105.3	2248	1312	3227	3208	182.0	-13.1	218	1441	0.00	1.02	0.00	0.000	1030	0.000	0.030	2246	2004	3217	3227	3207	0	0	0	0	0	0	26.72	26.70	26.74
1570	-1.05	-105.3	2245	2004	3227	3207	198.5	-12.1	232	1578	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2004	3217	3227	3207	0	0	0	0	0	0	26.98	27.04	27.03
1700	-1.05	-105.3	2245	2004	3227	3207	214.0	-11.8	245	1704	0.00	1.02	0.00	0.000	516	0.000	0.032	2248	1312	3217	3227	3207	0	0	0	0	0	0	26.97	26.69	27.02
1831	-1.05	-105.3	2248	1312	3227	3206	230.0	-12.0	269	1835	0.00	1.02	0.00	0.000	1030	0.000	0.031	2245	2003	3216	3227	3206	0	0	0	0	0	0	26.77	26.74	26.79
1874	end dive: BOTTOM_OBSTACLE_DETECTED
state	1874	begin apogee
1879	-0.18	0.0	2245	1785	3227	3205	235.4	-12.7	274	2044	0.93	0.00	160.18	0.560	10246	0.157	0.000	2521	1784	2799	2851	2748	0	0	0	0	0	0	26.13	25.36	24.84
2045	end apogee: CONTROL_FINISHED_OK
state	2045	begin climb
2047	1.05	105.3	2520	1784	2843	2740	241.3	0.0	291	2214	1.27	0.00	157.10	0.558	10758	0.116	0.000	2915	1784	2362	2480	2245	0	0	0	0	0	0	25.36	24.93	24.60
2335	1.05	105.3	2914	1784	2459	2224	218.8	10.9	332	2340	0.00	1.02	0.00	0.000	516	0.000	0.039	2920	1131	2341	2459	2224	0	0	0	0	0	0	26.06	25.82	26.11
2411	1.05	105.3	2919	1131	2457	2224	209.5	11.5	347	2419	0.00	1.02	0.00	0.000	1030	0.000	0.031	2917	1799	2340	2457	2224	0	0	0	0	0	0	26.03	26.02	26.06
2542	1.05	105.3	2916	1798	2455	2223	194.9	11.7	360	2546	0.00	1.05	0.00	0.000	260	0.000	0.038	2912	2494	2339	2455	2223	0	0	0	0	0	0	26.46	26.17	26.48
2616	1.05	105.3	2911	2495	2453	2223	186.0	11.3	374	2620	0.00	0.98	0.00	0.000	1030	0.000	0.030	2915	1831	2337	2453	2222	0	0	0	0	0	0	26.30	26.30	26.33
2750	1.05	105.3	2914	1832	2453	2223	170.8	12.0	388	2758	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	1831	2338	2453	2223	0	0	0	0	0	0	26.62	26.68	26.67
2878	1.05	105.3	2914	1832	2452	2222	155.9	11.0	401	2882	0.00	1.12	0.00	0.000	516	0.000	0.041	2920	1094	2337	2452	2223	0	0	0	0	0	0	26.70	26.40	26.74
2913	1.05	105.3	2920	1094	2452	2223	151.6	11.0	408	2922	0.00	1.08	0.00	0.000	1030	0.000	0.029	2918	1811	2337	2452	2223	0	0	0	0	0	0	26.49	26.46	26.51
3042	1.05	105.3	2916	1811	2451	2222	137.7	10.9	421	3050	0.00	0.00	0.00	0.000	6	0.000	0.000	2917	1811	2337	2451	2223	0	0	0	0	0	0	26.77	26.83	26.82
3171	1.05	105.3	2917	1811	2450	2223	123.5	10.3	434	3176	0.00	1.02	0.00	0.000	260	0.000	0.041	2912	2501	2336	2450	2222	0	0	0	0	0	0	26.81	26.50	26.86
3312	1.05	105.3	2911	2501	2448	2222	108.0	11.4	461	3319	0.00	1.02	0.00	0.000	1030	0.000	0.031	2915	1800	2335	2449	2222	0	0	0	0	0	0	26.62	26.61	26.65
3440	1.05	105.3	2914	1799	2448	2223	92.3	13.3	479	3447	0.00	1.05	0.00	0.000	516	0.000	0.041	2920	1110	2335	2448	2223	0	0	0	0	0	0	26.89	26.60	26.94
3509	1.05	105.3	2920	1110	2448	2223	83.4	12.3	491	3517	0.00	1.02	0.00	0.000	1030	0.000	0.031	2918	1797	2335	2448	2222	0	0	0	0	0	0	26.66	26.63	26.68
3646	1.05	105.3	2917	1797	2447	2222	65.5	11.9	516	3655	0.00	1.02	0.00	0.000	260	0.000	0.038	2912	2490	2334	2447	2222	0	0	0	0	0	0	26.92	26.62	26.98
3775	1.09	139.9	2911	2490	2445	2222	55.2	6.5	540	3826	0.03	1.00	43.05	0.538	11302	0.163	0.029	2927	1802	2225	2350	2100	0	0	0	0	0	0	26.51	26.69	25.52
3953	1.09	140.4	2926	1802	2325	2075	40.6	10.1	571	3961	0.00	1.08	0.00	0.000	548	0.000	0.041	2931	1105	2200	2325	2076	0	0	0	0	0	0	26.61	26.32	26.66
4199	1.12	160.9	2930	1105	2323	2075	16.7	8.0	617	4228	0.00	1.05	19.20	0.534	9254	0.000	0.031	2928	1799	2136	2265	2007	0	0	0	0	0	0	26.52	26.48	25.53
4355	1.18	210.3	2928	1799	2249	1989	6.7	4.9	645	4440	0.12	1.05	76.07	0.480	10788	0.161	0.038	2964	1110	1932	2070	1794	0	0	0	0	0	0	26.19	25.50	25.18
4445	end climb: SURFACE_DEPTH_REACHED
state	4446	begin surface coast
4478	end surface coast: CONTROL_FINISHED_OK
state	4478	begin surface