Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 24 * 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 24 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 51 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 49 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 51 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 49 XPDR_INHIBIT 90

DIVE 24 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 010921,151026,4751.2085,-12509.5781,4,1.1,5,15.7,0.3,234.6,8,4.7 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4747.975,-12513.804

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.46 MHEAD_RNG_PITCHd_Wd 202.5,7899,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -63.1 D_GRID 225

GPS2 010921,151449,4751.1885,-12509.6289,6,0.8,7,15.7,0.3,202.3,12,3.4

Post-dive calculations and measurements:

FINISH -0.4,1.025570 _10V_AH 10.30,4.838

SM_CCo 4546,181.35,0.633,1,0,591,603.44 FG_AHR_24Vo 0.000

SM_GC 0.48,7.72,0.28,181.35,0.056,0.051,0.633,183,2057,591,-7.39,-1.36,603.44,0,0,0,0,1,0,25.79,25.75,24.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,010921,135008 MEM 211728

TT8_MAMPS 0.021721,0.146804 DATA_FILE_SIZE 36809,691

HUMID 53.03 CAP_FILE_SIZE 80876,0

INTERNAL_PRESSURE 8.7185 CFSIZE 260030464,249077760

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.020,273.39,1

_24V_AH 24.52,7.889 GPS 010921,163531,4750.837,-12510.221,19,0.7,20,15.7,0.2,0.0,11,3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 96.23 SBE_CT 394 64 622.78

Roll_motor 39 66 64.99 WL_blue_red_Chl 1253 37 1151.09

VBD_pump_during_apogee 603 680 10064.61 nil 0 0 0.00

VBD_pump_during_surface 181 633 2816.63 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 182 89 399.65 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.40

TT8 1468 12 184.82

LPSleep 954 2 21.53

TT8_Active 774 12 97.49

TT8_Sampling 1572 37 610.53

TT8_CF8 254 42 112.75

TT8_Kalman 0 0 0.00

Analog_circuits 1670 11 189.27

GPS_charging 0 0 0.00

Compass 1513 8 128.43

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.79 -116.8 180 2070 752 427 0.0 0.0 0 115 0.00 0.00 -106.22 0.004 16386 0.000 0.000 180 2070 3061 3051 3071 0 0 0 0 0 0 26.22 28.83 26.28

118 -0.79 -116.8 179 2070 3053 3071 3.9 -7.2 15 142 8.25 1.35 -9.50 0.010 18724 0.210 0.067 2319 2920 3530 3529 3531 0 0 0 0 0 0 25.83 24.89 25.97

288 -0.79 -116.8 2318 2920 3536 3530 37.7 -16.5 46 296 0.00 1.30 0.00 0.000 1030 0.000 0.025 2323 2033 3533 3536 3530 0 0 0 0 0 0 26.35 26.33 26.33

426 -0.79 -116.8 2323 2031 3537 3529 58.6 -14.5 71 434 0.00 1.27 0.00 0.000 516 0.000 0.034 2324 1184 3533 3537 3529 0 0 0 0 0 0 26.61 26.39 26.66

473 -0.79 -116.8 2323 1184 3538 3529 65.7 -15.6 79 480 0.00 1.33 0.00 0.000 1030 0.000 0.031 2319 2055 3533 3538 3529 0 0 0 0 0 0 26.45 26.42 26.48

604 -0.79 -116.8 2318 2055 3539 3529 86.0 -15.4 104 611 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2055 3534 3539 3529 0 0 0 0 0 0 26.70 26.76 26.75

736 -0.79 -116.8 2318 2055 3540 3528 104.1 -13.2 126 740 0.00 1.30 0.00 0.000 260 0.000 0.039 2312 2923 3534 3540 3528 0 0 0 0 0 0 26.75 26.51 26.81

803 -0.79 -116.8 2311 2923 3539 3528 113.0 -12.1 139 812 0.03 1.27 0.00 0.000 3078 0.205 0.025 2324 2037 3534 3540 3528 0 0 0 0 0 0 26.40 26.58 26.47

933 -0.79 -116.8 2323 2034 3540 3528 128.7 -12.9 152 937 0.00 1.25 0.00 0.000 516 0.000 0.034 2330 1192 3534 3541 3528 0 0 0 0 0 0 26.82 26.58 26.87

1008 -0.79 -116.8 2330 1192 3540 3528 138.5 -12.3 166 1012 0.00 1.30 0.00 0.000 1030 0.000 0.031 2326 2054 3534 3541 3527 0 0 0 0 0 0 26.65 26.62 26.67

1142 -0.79 -116.8 2325 2054 3541 3527 155.1 -12.6 180 1146 0.00 1.30 0.00 0.000 516 0.000 0.034 2330 1187 3534 3541 3527 0 0 0 0 0 0 26.87 26.64 26.91

1196 -0.79 -116.8 2330 1186 3541 3527 162.2 -12.7 190 1201 0.00 1.30 0.00 0.000 1030 0.000 0.030 2326 2051 3534 3541 3527 0 0 0 0 0 0 26.69 26.65 26.72

1329 -0.79 -116.8 2325 2050 3541 3526 179.2 -12.5 204 1332 0.00 1.27 0.00 0.000 516 0.000 0.034 2330 1198 3533 3541 3526 0 0 0 0 0 0 26.91 26.67 26.96

1395 -0.79 -116.8 2330 1198 3541 3526 187.7 -12.5 217 1404 0.00 1.27 0.00 0.000 1030 0.000 0.031 2325 2045 3533 3541 3526 0 0 0 0 0 0 26.73 26.70 26.75

1524 -0.79 -116.8 2325 2045 3541 3526 203.6 -12.5 230 1531 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2045 3533 3541 3525 0 0 0 0 0 0 26.94 27.01 27.00

1653 -0.79 -116.8 2325 2045 3541 3525 220.0 -12.7 243 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2045 3533 3541 3525 0 0 0 0 0 0 26.96 27.02 27.01

1691 end dive: TARGET_DEPTH_EXCEEDED

state 1691 begin apogee

1696 -0.18 0.0 2326 1827 3541 3525 225.0 -12.7 247 1894 0.62 0.00 192.02 0.575 10246 0.148 0.000 2519 1824 3045 3103 2988 0 0 0 0 0 0 26.48 25.24 24.79

1895 end apogee: CONTROL_FINISHED_OK

state 1895 begin climb

1897 0.79 116.8 2518 1823 3097 2981 234.4 0.0 267 2080 1.00 1.27 172.62 0.551 10756 0.116 0.037 2836 1022 2564 2661 2468 0 0 0 0 0 0 25.28 24.97 24.67

2137 0.85 165.8 2835 1022 2641 2442 230.7 7.2 314 2210 0.05 1.30 66.03 0.560 11302 0.174 0.030 2844 1845 2371 2493 2249 0 0 0 0 0 0 25.42 25.59 24.76

2339 0.85 168.6 2843 1845 2469 2230 212.5 9.8 341 2343 0.00 1.35 0.00 0.000 292 0.000 0.038 2839 2725 2349 2469 2230 0 0 0 0 0 0 26.02 25.82 26.08

2489 0.85 171.8 2839 2725 2462 2230 197.5 9.8 370 2497 0.00 1.27 0.00 0.000 1062 0.000 0.030 2844 1878 2346 2462 2230 0 0 0 0 0 0 26.14 26.11 26.16

2616 0.85 173.0 2843 1878 2462 2230 185.1 9.9 383 2620 0.00 1.38 0.00 0.000 548 0.000 0.041 2850 988 2346 2462 2230 0 0 0 0 0 0 26.44 26.21 26.50

2732 0.85 173.0 2850 988 2462 2230 173.1 10.1 406 2740 0.00 1.33 0.00 0.000 1030 0.000 0.031 2846 1854 2346 2462 2230 0 0 0 0 0 0 26.36 26.34 26.39

2862 0.85 173.0 2845 1854 2461 2230 160.3 10.1 419 2866 0.00 1.35 0.00 0.000 516 0.000 0.041 2850 985 2345 2461 2230 0 0 0 0 0 0 26.62 26.38 26.67

2925 0.85 173.0 2850 985 2461 2231 153.5 10.6 431 2929 0.00 1.33 0.00 0.000 1030 0.000 0.031 2846 1853 2345 2461 2230 0 0 0 0 0 0 26.46 26.45 26.49

3057 0.86 176.6 2845 1854 2460 2230 140.2 9.8 445 3062 0.00 1.30 0.00 0.000 292 0.000 0.041 2839 2719 2345 2461 2230 0 0 0 0 0 0 26.72 26.48 26.77

3092 0.87 184.9 2839 2720 2458 2230 136.6 9.5 452 3112 0.03 1.30 15.43 0.680 11302 0.197 0.031 2853 1844 2298 2418 2178 0 0 0 0 0 0 26.34 26.53 25.66

3233 0.87 184.9 2852 1844 2396 2157 122.6 10.5 467 3236 0.00 1.33 0.00 0.000 516 0.000 0.042 2860 982 2276 2396 2157 0 0 0 0 0 0 26.60 26.36 26.66

3318 0.87 184.9 2859 982 2396 2157 112.3 11.6 484 3326 0.00 1.33 0.00 0.000 1030 0.000 0.031 2854 1849 2276 2395 2157 0 0 0 0 0 0 26.48 26.44 26.50

3447 0.87 184.9 2854 1849 2394 2157 98.6 10.1 498 3455 0.00 1.33 0.00 0.000 260 0.000 0.041 2848 2724 2275 2394 2157 0 0 0 0 0 0 26.72 26.48 26.77

3534 0.89 199.7 2847 2724 2392 2157 90.4 9.1 514 3549 0.00 1.30 10.70 0.676 9254 0.000 0.031 2853 1852 2235 2358 2113 0 0 0 0 0 0 26.55 26.54 25.72

3677 0.89 199.7 2852 1852 2341 2102 77.4 10.1 540 3684 0.05 0.00 0.00 0.000 2054 0.220 0.000 2868 1851 2222 2343 2101 0 0 0 0 0 0 26.46 26.53 26.50

3810 0.90 208.3 2868 1851 2340 2100 61.8 9.5 565 3819 0.00 1.33 2.33 0.423 8484 0.000 0.035 2864 2739 2203 2327 2079 0 0 0 0 0 0 26.74 26.03 25.37

3842 0.91 221.8 2863 2740 2331 2081 58.6 9.2 570 3872 0.00 1.33 22.73 0.594 9254 0.000 0.030 2869 1847 2140 2267 2013 0 0 0 0 0 0 26.55 26.52 25.62

3998 0.91 222.9 2868 1847 2246 1996 43.5 9.9 598 4005 0.00 1.35 0.00 0.000 548 0.000 0.042 2876 982 2121 2246 1996 0 0 0 0 0 0 26.57 26.34 26.63

4245 0.94 245.1 2875 981 2245 1996 20.5 8.7 644 4275 0.00 1.33 24.60 0.563 9254 0.000 0.030 2876 1854 2050 2182 1918 0 0 0 0 0 0 26.53 26.51 25.60

4401 1.02 312.4 2875 1854 2157 1898 8.9 6.1 672 4502 0.12 0.00 97.10 0.505 10786 0.130 0.000 2915 1854 1811 1951 1671 0 0 0 0 0 0 26.27 28.83 26.35

4503 end climb: SURFACE_DEPTH_REACHED

state 4503 begin surface coast

4530 end surface coast: CONTROL_FINISHED_OK

state 4531 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	24	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	51	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	49	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	010921,151026,4751.2085,-12509.5781,4,1.1,5,15.7,0.3,234.6,8,4.7	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4747.975,-12513.804
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.46	MHEAD_RNG_PITCHd_Wd	202.5,7899,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-63.1	D_GRID	225
GPS2	010921,151449,4751.1885,-12509.6289,6,0.8,7,15.7,0.3,202.3,12,3.4

FINISH	-0.4,1.025570	_10V_AH	10.30,4.838
SM_CCo	4546,181.35,0.633,1,0,591,603.44	FG_AHR_24Vo	0.000
SM_GC	0.48,7.72,0.28,181.35,0.056,0.051,0.633,183,2057,591,-7.39,-1.36,603.44,0,0,0,0,1,0,25.79,25.75,24.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,010921,135008	MEM	211728
TT8_MAMPS	0.021721,0.146804	DATA_FILE_SIZE	36809,691
HUMID	53.03	CAP_FILE_SIZE	80876,0
INTERNAL_PRESSURE	8.7185	CFSIZE	260030464,249077760
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.020,273.39,1
_24V_AH	24.52,7.889	GPS	010921,163531,4750.837,-12510.221,19,0.7,20,15.7,0.2,0.0,11,3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	96.23	SBE_CT	394	64	622.78
Roll_motor	39	66	64.99	WL_blue_red_Chl	1253	37	1151.09
VBD_pump_during_apogee	603	680	10064.61	nil	0	0	0.00
VBD_pump_during_surface	181	633	2816.63	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	182	89	399.65	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.40
TT8	1468	12	184.82
LPSleep	954	2	21.53
TT8_Active	774	12	97.49
TT8_Sampling	1572	37	610.53
TT8_CF8	254	42	112.75
TT8_Kalman	0	0	0.00
Analog_circuits	1670	11	189.27
GPS_charging	0	0	0.00
Compass	1513	8	128.43
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.79	-116.8	180	2070	752	427	0.0	0.0	0	115	0.00	0.00	-106.22	0.004	16386	0.000	0.000	180	2070	3061	3051	3071	0	0	0	0	0	0	26.22	28.83	26.28
118	-0.79	-116.8	179	2070	3053	3071	3.9	-7.2	15	142	8.25	1.35	-9.50	0.010	18724	0.210	0.067	2319	2920	3530	3529	3531	0	0	0	0	0	0	25.83	24.89	25.97
288	-0.79	-116.8	2318	2920	3536	3530	37.7	-16.5	46	296	0.00	1.30	0.00	0.000	1030	0.000	0.025	2323	2033	3533	3536	3530	0	0	0	0	0	0	26.35	26.33	26.33
426	-0.79	-116.8	2323	2031	3537	3529	58.6	-14.5	71	434	0.00	1.27	0.00	0.000	516	0.000	0.034	2324	1184	3533	3537	3529	0	0	0	0	0	0	26.61	26.39	26.66
473	-0.79	-116.8	2323	1184	3538	3529	65.7	-15.6	79	480	0.00	1.33	0.00	0.000	1030	0.000	0.031	2319	2055	3533	3538	3529	0	0	0	0	0	0	26.45	26.42	26.48
604	-0.79	-116.8	2318	2055	3539	3529	86.0	-15.4	104	611	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2055	3534	3539	3529	0	0	0	0	0	0	26.70	26.76	26.75
736	-0.79	-116.8	2318	2055	3540	3528	104.1	-13.2	126	740	0.00	1.30	0.00	0.000	260	0.000	0.039	2312	2923	3534	3540	3528	0	0	0	0	0	0	26.75	26.51	26.81
803	-0.79	-116.8	2311	2923	3539	3528	113.0	-12.1	139	812	0.03	1.27	0.00	0.000	3078	0.205	0.025	2324	2037	3534	3540	3528	0	0	0	0	0	0	26.40	26.58	26.47
933	-0.79	-116.8	2323	2034	3540	3528	128.7	-12.9	152	937	0.00	1.25	0.00	0.000	516	0.000	0.034	2330	1192	3534	3541	3528	0	0	0	0	0	0	26.82	26.58	26.87
1008	-0.79	-116.8	2330	1192	3540	3528	138.5	-12.3	166	1012	0.00	1.30	0.00	0.000	1030	0.000	0.031	2326	2054	3534	3541	3527	0	0	0	0	0	0	26.65	26.62	26.67
1142	-0.79	-116.8	2325	2054	3541	3527	155.1	-12.6	180	1146	0.00	1.30	0.00	0.000	516	0.000	0.034	2330	1187	3534	3541	3527	0	0	0	0	0	0	26.87	26.64	26.91
1196	-0.79	-116.8	2330	1186	3541	3527	162.2	-12.7	190	1201	0.00	1.30	0.00	0.000	1030	0.000	0.030	2326	2051	3534	3541	3527	0	0	0	0	0	0	26.69	26.65	26.72
1329	-0.79	-116.8	2325	2050	3541	3526	179.2	-12.5	204	1332	0.00	1.27	0.00	0.000	516	0.000	0.034	2330	1198	3533	3541	3526	0	0	0	0	0	0	26.91	26.67	26.96
1395	-0.79	-116.8	2330	1198	3541	3526	187.7	-12.5	217	1404	0.00	1.27	0.00	0.000	1030	0.000	0.031	2325	2045	3533	3541	3526	0	0	0	0	0	0	26.73	26.70	26.75
1524	-0.79	-116.8	2325	2045	3541	3526	203.6	-12.5	230	1531	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2045	3533	3541	3525	0	0	0	0	0	0	26.94	27.01	27.00
1653	-0.79	-116.8	2325	2045	3541	3525	220.0	-12.7	243	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2045	3533	3541	3525	0	0	0	0	0	0	26.96	27.02	27.01
1691	end dive: TARGET_DEPTH_EXCEEDED
state	1691	begin apogee
1696	-0.18	0.0	2326	1827	3541	3525	225.0	-12.7	247	1894	0.62	0.00	192.02	0.575	10246	0.148	0.000	2519	1824	3045	3103	2988	0	0	0	0	0	0	26.48	25.24	24.79
1895	end apogee: CONTROL_FINISHED_OK
state	1895	begin climb
1897	0.79	116.8	2518	1823	3097	2981	234.4	0.0	267	2080	1.00	1.27	172.62	0.551	10756	0.116	0.037	2836	1022	2564	2661	2468	0	0	0	0	0	0	25.28	24.97	24.67
2137	0.85	165.8	2835	1022	2641	2442	230.7	7.2	314	2210	0.05	1.30	66.03	0.560	11302	0.174	0.030	2844	1845	2371	2493	2249	0	0	0	0	0	0	25.42	25.59	24.76
2339	0.85	168.6	2843	1845	2469	2230	212.5	9.8	341	2343	0.00	1.35	0.00	0.000	292	0.000	0.038	2839	2725	2349	2469	2230	0	0	0	0	0	0	26.02	25.82	26.08
2489	0.85	171.8	2839	2725	2462	2230	197.5	9.8	370	2497	0.00	1.27	0.00	0.000	1062	0.000	0.030	2844	1878	2346	2462	2230	0	0	0	0	0	0	26.14	26.11	26.16
2616	0.85	173.0	2843	1878	2462	2230	185.1	9.9	383	2620	0.00	1.38	0.00	0.000	548	0.000	0.041	2850	988	2346	2462	2230	0	0	0	0	0	0	26.44	26.21	26.50
2732	0.85	173.0	2850	988	2462	2230	173.1	10.1	406	2740	0.00	1.33	0.00	0.000	1030	0.000	0.031	2846	1854	2346	2462	2230	0	0	0	0	0	0	26.36	26.34	26.39
2862	0.85	173.0	2845	1854	2461	2230	160.3	10.1	419	2866	0.00	1.35	0.00	0.000	516	0.000	0.041	2850	985	2345	2461	2230	0	0	0	0	0	0	26.62	26.38	26.67
2925	0.85	173.0	2850	985	2461	2231	153.5	10.6	431	2929	0.00	1.33	0.00	0.000	1030	0.000	0.031	2846	1853	2345	2461	2230	0	0	0	0	0	0	26.46	26.45	26.49
3057	0.86	176.6	2845	1854	2460	2230	140.2	9.8	445	3062	0.00	1.30	0.00	0.000	292	0.000	0.041	2839	2719	2345	2461	2230	0	0	0	0	0	0	26.72	26.48	26.77
3092	0.87	184.9	2839	2720	2458	2230	136.6	9.5	452	3112	0.03	1.30	15.43	0.680	11302	0.197	0.031	2853	1844	2298	2418	2178	0	0	0	0	0	0	26.34	26.53	25.66
3233	0.87	184.9	2852	1844	2396	2157	122.6	10.5	467	3236	0.00	1.33	0.00	0.000	516	0.000	0.042	2860	982	2276	2396	2157	0	0	0	0	0	0	26.60	26.36	26.66
3318	0.87	184.9	2859	982	2396	2157	112.3	11.6	484	3326	0.00	1.33	0.00	0.000	1030	0.000	0.031	2854	1849	2276	2395	2157	0	0	0	0	0	0	26.48	26.44	26.50
3447	0.87	184.9	2854	1849	2394	2157	98.6	10.1	498	3455	0.00	1.33	0.00	0.000	260	0.000	0.041	2848	2724	2275	2394	2157	0	0	0	0	0	0	26.72	26.48	26.77
3534	0.89	199.7	2847	2724	2392	2157	90.4	9.1	514	3549	0.00	1.30	10.70	0.676	9254	0.000	0.031	2853	1852	2235	2358	2113	0	0	0	0	0	0	26.55	26.54	25.72
3677	0.89	199.7	2852	1852	2341	2102	77.4	10.1	540	3684	0.05	0.00	0.00	0.000	2054	0.220	0.000	2868	1851	2222	2343	2101	0	0	0	0	0	0	26.46	26.53	26.50
3810	0.90	208.3	2868	1851	2340	2100	61.8	9.5	565	3819	0.00	1.33	2.33	0.423	8484	0.000	0.035	2864	2739	2203	2327	2079	0	0	0	0	0	0	26.74	26.03	25.37
3842	0.91	221.8	2863	2740	2331	2081	58.6	9.2	570	3872	0.00	1.33	22.73	0.594	9254	0.000	0.030	2869	1847	2140	2267	2013	0	0	0	0	0	0	26.55	26.52	25.62
3998	0.91	222.9	2868	1847	2246	1996	43.5	9.9	598	4005	0.00	1.35	0.00	0.000	548	0.000	0.042	2876	982	2121	2246	1996	0	0	0	0	0	0	26.57	26.34	26.63
4245	0.94	245.1	2875	981	2245	1996	20.5	8.7	644	4275	0.00	1.33	24.60	0.563	9254	0.000	0.030	2876	1854	2050	2182	1918	0	0	0	0	0	0	26.53	26.51	25.60
4401	1.02	312.4	2875	1854	2157	1898	8.9	6.1	672	4502	0.12	0.00	97.10	0.505	10786	0.130	0.000	2915	1854	1811	1951	1671	0	0	0	0	0	0	26.27	28.83	26.35
4503	end climb: SURFACE_DEPTH_REACHED
state	4503	begin surface coast
4530	end surface coast: CONTROL_FINISHED_OK
state	4531	begin surface