Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 23 * 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 23 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 57 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 0.0012000001 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 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 225 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 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 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 1.3 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 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 25 ALTIM_PING_FIT 0 CP_STARTS 36.0

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 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 200

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 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 36.0 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 2600 LOGGERS 0 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 25 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 1.3 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 57 XPDR_INHIBIT 90

DIVE 23 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 010921,134631,4750.8628,-12509.9961,3,0.8,17,15.7,0.4,136.4,10,2.8 SPEED_LIMITS 0.173,0.234

_CALLS 2 TGT_NAME INSHORE

_XMS_NAKs 0 TGT_LATLONG 4752.165,-12508.635

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.45 MHEAD_RNG_PITCHd_Wd 23.1,3036,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -62.6 D_GRID 225

GPS2 010921,135216,4750.8262,-12510.0449,3,0.7,5,15.7,0.1,0.0,12,7.7

Post-dive calculations and measurements:

FINISH -0.4,1.025876 _10V_AH 10.24,4.781

SM_CCo 4403,189.25,0.665,1,0,589,603.44 FG_AHR_24Vo 0.000

SM_GC 0.43,7.47,1.67,189.25,0.056,0.031,0.665,190,2065,589,-7.40,-1.07,603.44,0,0,0,0,1,0,26.39,26.35,24.54 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4750.34,-12512.13,010921,134759 MEM 211640

TT8_MAMPS 0.02247,0.180509 DATA_FILE_SIZE 33578,634

HUMID 53.30 CAP_FILE_SIZE 73678,0

INTERNAL_PRESSURE 8.7185 CFSIZE 260030464,249131008

TCM_TEMP 15.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.012,301.31,1

_24V_AH 24.54,7.757 GPS 010921,151026,4751.208,-12509.578,4,1.1,5,15.7,0.3,234.6,8,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 206 88.58 SBE_CT 393 64 621.36

Roll_motor 32 56 45.05 WL_blue_red_Chl 1247 37 1146.21

VBD_pump_during_apogee 553 608 8273.03 nil 0 0 0.00

VBD_pump_during_surface 189 664 3087.39 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 202 89 444.84 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 2.18

TT8 1414 12 177.02

LPSleep 1028 2 23.06

TT8_Active 768 12 96.11

TT8_Sampling 1529 37 590.28

TT8_CF8 229 42 100.73

TT8_Kalman 0 0 0.00

Analog_circuits 1619 11 182.41

GPS_charging 0 0 0.00

Compass 1441 8 121.61

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.79 -116.8 181 2076 748 427 0.0 0.0 0 114 0.00 0.00 -103.75 0.004 16386 0.000 0.000 182 2075 2989 2980 2998 0 0 0 0 0 0 26.29 28.83 26.36

117 -0.79 -116.8 181 2075 2982 2998 3.5 -6.2 15 140 8.20 0.00 -11.75 0.009 18726 0.207 0.000 2331 2074 3530 3530 3530 0 0 0 0 0 0 25.86 25.06 26.08

270 -0.79 -116.8 2329 2074 3538 3530 33.6 -15.0 42 277 0.00 1.38 0.00 0.000 516 0.000 0.034 2337 1170 3533 3537 3529 0 0 0 0 0 0 26.53 26.31 26.59

310 -0.79 -116.8 2336 1170 3538 3529 39.8 -14.2 49 317 0.00 1.33 0.00 0.000 1030 0.000 0.031 2332 2039 3533 3538 3529 0 0 0 0 0 0 26.38 26.34 26.40

445 -0.79 -116.8 2331 2039 3540 3529 57.8 -13.5 74 452 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2039 3534 3540 3528 0 0 0 0 0 0 26.65 26.71 26.68

575 -0.79 -116.8 2331 2039 3541 3528 74.2 -11.0 99 583 0.00 1.30 0.00 0.000 516 0.000 0.034 2336 1178 3534 3541 3528 0 0 0 0 0 0 26.71 26.46 26.78

661 -0.79 -116.8 2336 1177 3541 3528 84.1 -11.8 115 669 0.00 1.33 0.00 0.000 1030 0.000 0.031 2332 2052 3534 3541 3528 0 0 0 0 0 0 26.55 26.51 26.58

793 -0.79 -116.8 2331 2053 3542 3528 99.6 -11.9 140 801 0.00 1.33 0.00 0.000 516 0.000 0.033 2337 1171 3534 3542 3527 0 0 0 0 0 0 26.79 26.55 26.84

850 -0.79 -116.8 2336 1171 3542 3528 106.7 -12.1 150 854 0.00 1.33 0.00 0.000 1030 0.000 0.031 2332 2050 3535 3542 3528 0 0 0 0 0 0 26.62 26.58 26.65

983 -0.79 -116.8 2331 2051 3543 3527 123.7 -13.2 164 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2051 3534 3542 3527 0 0 0 0 0 0 26.84 26.91 26.90

1112 -0.79 -116.8 2331 2051 3542 3527 140.2 -12.4 177 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2051 3534 3542 3527 0 0 0 0 0 0 26.87 26.94 26.93

1234 -0.79 -116.8 2331 2050 3542 3526 154.9 -12.3 189 1238 0.00 1.30 0.00 0.000 260 0.000 0.041 2325 2923 3534 3542 3526 0 0 0 0 0 0 26.90 26.65 26.97

1266 -0.79 -116.8 2324 2923 3542 3527 159.0 -12.3 195 1271 0.00 1.27 0.00 0.000 1030 0.000 0.025 2330 2034 3534 3542 3526 0 0 0 0 0 0 26.74 26.72 26.75

1399 -0.79 -116.8 2329 2030 3542 3526 174.8 -11.9 209 1403 0.00 1.33 0.00 0.000 260 0.000 0.038 2325 2916 3534 3542 3526 0 0 0 0 0 0 26.93 26.68 26.98

1433 -0.79 -116.8 2325 2916 3542 3526 179.1 -11.8 216 1441 0.00 1.25 0.00 0.000 1030 0.000 0.025 2330 2046 3534 3542 3526 0 0 0 0 0 0 26.77 26.75 26.78

1561 -0.79 -116.8 2329 2045 3542 3525 193.9 -11.7 229 1563 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2044 3533 3542 3525 0 0 0 0 0 0 26.96 27.03 27.00

1681 -0.79 -116.8 2329 2044 3542 3525 207.9 -11.9 241 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2045 3533 3542 3525 0 0 0 0 0 0 26.97 27.04 27.03

1803 -0.79 -116.8 2329 2044 3542 3524 222.7 -11.9 253 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2044 3533 3542 3525 0 0 0 0 0 0 26.99 27.05 27.05

1819 end dive: TARGET_DEPTH_EXCEEDED

state 1819 begin apogee

1824 -0.18 0.0 2331 1838 3543 3525 225.0 -11.7 255 2032 0.60 0.00 198.15 0.568 10246 0.144 0.000 2519 1836 3041 3100 2983 0 0 0 0 0 0 26.52 25.10 24.77

2033 end apogee: CONTROL_FINISHED_OK

state 2033 begin climb

2035 0.79 116.8 2519 1836 3096 2980 232.4 0.0 276 2216 1.00 1.45 173.62 0.544 10500 0.120 0.037 2823 2719 2568 2664 2472 0 0 0 0 0 0 25.32 25.12 24.67

2274 0.88 192.5 2823 2719 2627 2441 227.6 5.6 311 2393 0.10 1.30 108.57 0.542 11302 0.144 0.029 2861 1873 2255 2386 2125 0 0 0 0 0 0 25.42 25.60 24.72

2514 0.88 192.5 2860 1873 2350 2099 203.5 11.6 346 2521 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1873 2225 2351 2099 0 0 0 0 0 0 26.00 26.06 26.06

2642 0.88 192.5 2860 1873 2347 2099 187.7 12.5 359 2646 0.00 1.33 0.00 0.000 260 0.000 0.039 2856 2726 2223 2347 2099 0 0 0 0 0 0 26.25 26.03 26.31

2688 0.88 192.5 2854 2726 2345 2099 181.7 12.9 368 2696 0.00 1.33 0.00 0.000 1030 0.000 0.030 2861 1848 2222 2345 2099 0 0 0 0 0 0 26.15 26.11 26.20

2815 0.88 192.5 2860 1848 2344 2099 166.2 12.7 381 2817 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1849 2221 2344 2099 0 0 0 0 0 0 26.46 26.52 26.51

2935 0.88 192.5 2860 1848 2343 2099 151.8 11.7 393 2939 0.00 1.35 0.00 0.000 260 0.000 0.038 2856 2727 2220 2342 2099 0 0 0 0 0 0 26.55 26.32 26.60

2998 0.88 192.5 2856 2727 2341 2099 144.4 12.2 405 3001 0.00 1.30 0.00 0.000 1030 0.000 0.031 2861 1855 2220 2341 2099 0 0 0 0 0 0 26.41 26.39 26.44

3129 0.88 192.5 2860 1855 2341 2099 129.0 12.0 419 3134 0.00 1.33 0.00 0.000 260 0.000 0.038 2856 2719 2220 2341 2099 0 0 0 0 0 0 26.66 26.43 26.72

3172 0.88 192.5 2856 2719 2340 2098 123.7 12.3 427 3177 0.00 1.27 0.00 0.000 1030 0.000 0.030 2861 1857 2219 2340 2099 0 0 0 0 0 0 26.51 26.48 26.53

3305 0.88 192.5 2861 1857 2340 2099 108.0 11.7 441 3307 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1857 2219 2340 2099 0 0 0 0 0 0 26.74 26.80 26.79

3429 0.88 192.5 2861 1857 2340 2099 93.6 11.8 458 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1857 2219 2340 2099 0 0 0 0 0 0 26.78 26.85 26.84

3559 0.88 192.5 2861 1857 2339 2099 77.8 11.7 483 3567 0.00 1.35 0.00 0.000 516 0.000 0.042 2868 981 2219 2339 2099 0 0 0 0 0 0 26.82 26.57 26.89

3783 0.90 212.4 2868 980 2339 2099 54.4 8.8 525 3791 0.00 1.30 4.05 0.609 9254 0.000 0.030 2863 1844 2184 2308 2060 0 0 0 0 0 0 26.70 26.67 25.78

3918 0.94 241.0 2863 1844 2325 2072 43.0 8.3 550 3982 0.10 1.40 59.22 0.530 10788 0.145 0.041 2898 981 2066 2198 1935 0 0 0 0 0 0 26.60 25.94 25.46

4073 0.94 241.0 2897 981 2159 1907 25.5 11.6 576 4080 0.00 1.33 0.00 0.000 1030 0.000 0.030 2894 1839 2033 2160 1906 0 0 0 0 0 0 26.22 26.19 26.23

4210 0.96 259.6 2892 1839 2158 1904 12.2 8.9 601 4225 0.00 1.38 10.00 0.563 8740 0.000 0.041 2898 981 1992 2123 1861 0 0 0 0 0 0 26.53 26.11 25.58

4354 end climb: SURFACE_DEPTH_REACHED

state 4354 begin surface coast

4386 end surface coast: CONTROL_FINISHED_OK

state 4387 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	23	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	57	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	0.0012000001	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	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	225	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	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	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	1.3	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	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	25	ALTIM_PING_FIT	0	CP_STARTS	36.0
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	010921,134631,4750.8628,-12509.9961,3,0.8,17,15.7,0.4,136.4,10,2.8	SPEED_LIMITS	0.173,0.234
_CALLS	2	TGT_NAME	INSHORE
_XMS_NAKs	0	TGT_LATLONG	4752.165,-12508.635
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.45	MHEAD_RNG_PITCHd_Wd	23.1,3036,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-62.6	D_GRID	225
GPS2	010921,135216,4750.8262,-12510.0449,3,0.7,5,15.7,0.1,0.0,12,7.7

FINISH	-0.4,1.025876	_10V_AH	10.24,4.781
SM_CCo	4403,189.25,0.665,1,0,589,603.44	FG_AHR_24Vo	0.000
SM_GC	0.43,7.47,1.67,189.25,0.056,0.031,0.665,190,2065,589,-7.40,-1.07,603.44,0,0,0,0,1,0,26.39,26.35,24.54	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4750.34,-12512.13,010921,134759	MEM	211640
TT8_MAMPS	0.02247,0.180509	DATA_FILE_SIZE	33578,634
HUMID	53.30	CAP_FILE_SIZE	73678,0
INTERNAL_PRESSURE	8.7185	CFSIZE	260030464,249131008
TCM_TEMP	15.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.012,301.31,1
_24V_AH	24.54,7.757	GPS	010921,151026,4751.208,-12509.578,4,1.1,5,15.7,0.3,234.6,8,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	206	88.58	SBE_CT	393	64	621.36
Roll_motor	32	56	45.05	WL_blue_red_Chl	1247	37	1146.21
VBD_pump_during_apogee	553	608	8273.03	nil	0	0	0.00
VBD_pump_during_surface	189	664	3087.39	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	202	89	444.84	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	2.18
TT8	1414	12	177.02
LPSleep	1028	2	23.06
TT8_Active	768	12	96.11
TT8_Sampling	1529	37	590.28
TT8_CF8	229	42	100.73
TT8_Kalman	0	0	0.00
Analog_circuits	1619	11	182.41
GPS_charging	0	0	0.00
Compass	1441	8	121.61
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.79	-116.8	181	2076	748	427	0.0	0.0	0	114	0.00	0.00	-103.75	0.004	16386	0.000	0.000	182	2075	2989	2980	2998	0	0	0	0	0	0	26.29	28.83	26.36
117	-0.79	-116.8	181	2075	2982	2998	3.5	-6.2	15	140	8.20	0.00	-11.75	0.009	18726	0.207	0.000	2331	2074	3530	3530	3530	0	0	0	0	0	0	25.86	25.06	26.08
270	-0.79	-116.8	2329	2074	3538	3530	33.6	-15.0	42	277	0.00	1.38	0.00	0.000	516	0.000	0.034	2337	1170	3533	3537	3529	0	0	0	0	0	0	26.53	26.31	26.59
310	-0.79	-116.8	2336	1170	3538	3529	39.8	-14.2	49	317	0.00	1.33	0.00	0.000	1030	0.000	0.031	2332	2039	3533	3538	3529	0	0	0	0	0	0	26.38	26.34	26.40
445	-0.79	-116.8	2331	2039	3540	3529	57.8	-13.5	74	452	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2039	3534	3540	3528	0	0	0	0	0	0	26.65	26.71	26.68
575	-0.79	-116.8	2331	2039	3541	3528	74.2	-11.0	99	583	0.00	1.30	0.00	0.000	516	0.000	0.034	2336	1178	3534	3541	3528	0	0	0	0	0	0	26.71	26.46	26.78
661	-0.79	-116.8	2336	1177	3541	3528	84.1	-11.8	115	669	0.00	1.33	0.00	0.000	1030	0.000	0.031	2332	2052	3534	3541	3528	0	0	0	0	0	0	26.55	26.51	26.58
793	-0.79	-116.8	2331	2053	3542	3528	99.6	-11.9	140	801	0.00	1.33	0.00	0.000	516	0.000	0.033	2337	1171	3534	3542	3527	0	0	0	0	0	0	26.79	26.55	26.84
850	-0.79	-116.8	2336	1171	3542	3528	106.7	-12.1	150	854	0.00	1.33	0.00	0.000	1030	0.000	0.031	2332	2050	3535	3542	3528	0	0	0	0	0	0	26.62	26.58	26.65
983	-0.79	-116.8	2331	2051	3543	3527	123.7	-13.2	164	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2051	3534	3542	3527	0	0	0	0	0	0	26.84	26.91	26.90
1112	-0.79	-116.8	2331	2051	3542	3527	140.2	-12.4	177	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2051	3534	3542	3527	0	0	0	0	0	0	26.87	26.94	26.93
1234	-0.79	-116.8	2331	2050	3542	3526	154.9	-12.3	189	1238	0.00	1.30	0.00	0.000	260	0.000	0.041	2325	2923	3534	3542	3526	0	0	0	0	0	0	26.90	26.65	26.97
1266	-0.79	-116.8	2324	2923	3542	3527	159.0	-12.3	195	1271	0.00	1.27	0.00	0.000	1030	0.000	0.025	2330	2034	3534	3542	3526	0	0	0	0	0	0	26.74	26.72	26.75
1399	-0.79	-116.8	2329	2030	3542	3526	174.8	-11.9	209	1403	0.00	1.33	0.00	0.000	260	0.000	0.038	2325	2916	3534	3542	3526	0	0	0	0	0	0	26.93	26.68	26.98
1433	-0.79	-116.8	2325	2916	3542	3526	179.1	-11.8	216	1441	0.00	1.25	0.00	0.000	1030	0.000	0.025	2330	2046	3534	3542	3526	0	0	0	0	0	0	26.77	26.75	26.78
1561	-0.79	-116.8	2329	2045	3542	3525	193.9	-11.7	229	1563	0.00	0.00	0.00	0.000	6	0.000	0.000	2330	2044	3533	3542	3525	0	0	0	0	0	0	26.96	27.03	27.00
1681	-0.79	-116.8	2329	2044	3542	3525	207.9	-11.9	241	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2330	2045	3533	3542	3525	0	0	0	0	0	0	26.97	27.04	27.03
1803	-0.79	-116.8	2329	2044	3542	3524	222.7	-11.9	253	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2044	3533	3542	3525	0	0	0	0	0	0	26.99	27.05	27.05
1819	end dive: TARGET_DEPTH_EXCEEDED
state	1819	begin apogee
1824	-0.18	0.0	2331	1838	3543	3525	225.0	-11.7	255	2032	0.60	0.00	198.15	0.568	10246	0.144	0.000	2519	1836	3041	3100	2983	0	0	0	0	0	0	26.52	25.10	24.77
2033	end apogee: CONTROL_FINISHED_OK
state	2033	begin climb
2035	0.79	116.8	2519	1836	3096	2980	232.4	0.0	276	2216	1.00	1.45	173.62	0.544	10500	0.120	0.037	2823	2719	2568	2664	2472	0	0	0	0	0	0	25.32	25.12	24.67
2274	0.88	192.5	2823	2719	2627	2441	227.6	5.6	311	2393	0.10	1.30	108.57	0.542	11302	0.144	0.029	2861	1873	2255	2386	2125	0	0	0	0	0	0	25.42	25.60	24.72
2514	0.88	192.5	2860	1873	2350	2099	203.5	11.6	346	2521	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1873	2225	2351	2099	0	0	0	0	0	0	26.00	26.06	26.06
2642	0.88	192.5	2860	1873	2347	2099	187.7	12.5	359	2646	0.00	1.33	0.00	0.000	260	0.000	0.039	2856	2726	2223	2347	2099	0	0	0	0	0	0	26.25	26.03	26.31
2688	0.88	192.5	2854	2726	2345	2099	181.7	12.9	368	2696	0.00	1.33	0.00	0.000	1030	0.000	0.030	2861	1848	2222	2345	2099	0	0	0	0	0	0	26.15	26.11	26.20
2815	0.88	192.5	2860	1848	2344	2099	166.2	12.7	381	2817	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1849	2221	2344	2099	0	0	0	0	0	0	26.46	26.52	26.51
2935	0.88	192.5	2860	1848	2343	2099	151.8	11.7	393	2939	0.00	1.35	0.00	0.000	260	0.000	0.038	2856	2727	2220	2342	2099	0	0	0	0	0	0	26.55	26.32	26.60
2998	0.88	192.5	2856	2727	2341	2099	144.4	12.2	405	3001	0.00	1.30	0.00	0.000	1030	0.000	0.031	2861	1855	2220	2341	2099	0	0	0	0	0	0	26.41	26.39	26.44
3129	0.88	192.5	2860	1855	2341	2099	129.0	12.0	419	3134	0.00	1.33	0.00	0.000	260	0.000	0.038	2856	2719	2220	2341	2099	0	0	0	0	0	0	26.66	26.43	26.72
3172	0.88	192.5	2856	2719	2340	2098	123.7	12.3	427	3177	0.00	1.27	0.00	0.000	1030	0.000	0.030	2861	1857	2219	2340	2099	0	0	0	0	0	0	26.51	26.48	26.53
3305	0.88	192.5	2861	1857	2340	2099	108.0	11.7	441	3307	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1857	2219	2340	2099	0	0	0	0	0	0	26.74	26.80	26.79
3429	0.88	192.5	2861	1857	2340	2099	93.6	11.8	458	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1857	2219	2340	2099	0	0	0	0	0	0	26.78	26.85	26.84
3559	0.88	192.5	2861	1857	2339	2099	77.8	11.7	483	3567	0.00	1.35	0.00	0.000	516	0.000	0.042	2868	981	2219	2339	2099	0	0	0	0	0	0	26.82	26.57	26.89
3783	0.90	212.4	2868	980	2339	2099	54.4	8.8	525	3791	0.00	1.30	4.05	0.609	9254	0.000	0.030	2863	1844	2184	2308	2060	0	0	0	0	0	0	26.70	26.67	25.78
3918	0.94	241.0	2863	1844	2325	2072	43.0	8.3	550	3982	0.10	1.40	59.22	0.530	10788	0.145	0.041	2898	981	2066	2198	1935	0	0	0	0	0	0	26.60	25.94	25.46
4073	0.94	241.0	2897	981	2159	1907	25.5	11.6	576	4080	0.00	1.33	0.00	0.000	1030	0.000	0.030	2894	1839	2033	2160	1906	0	0	0	0	0	0	26.22	26.19	26.23
4210	0.96	259.6	2892	1839	2158	1904	12.2	8.9	601	4225	0.00	1.38	10.00	0.563	8740	0.000	0.041	2898	981	1992	2123	1861	0	0	0	0	0	0	26.53	26.11	25.58
4354	end climb: SURFACE_DEPTH_REACHED
state	4354	begin surface coast
4386	end surface coast: CONTROL_FINISHED_OK
state	4387	begin surface