Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 25 * 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 25 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 50 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 1

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 1.5 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 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 1 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 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 50 XPDR_INHIBIT 90

DIVE 25 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 010921,163531,4750.8374,-12510.2207,19,0.7,20,15.7,0.2,0.0,11,3.5 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 0.45 MHEAD_RNG_PITCHd_Wd 200.1,6886,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -63.5 D_GRID 266

GPS2 010921,163915,4750.8301,-12510.2578,4,0.6,6,15.7,0.4,190.1,12,9.3

Post-dive calculations and measurements:

FINISH -0.4,1.025779 _24V_AH 24.06,8.025

SM_CCo 4924,205.57,0.641,1,0,591,603.44 _10V_AH 10.29,4.898

SM_GC 0.42,7.53,1.65,205.57,0.062,0.030,0.641,185,2042,591,-7.41,-1.58,603.44,0,0,0,0,1,0,26.37,26.34,24.53 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4749.27,-12516.60,010921,151155 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.147553 MEM 211752

HUMID 53.26 DATA_FILE_SIZE 36838,713

INTERNAL_PRESSURE 8.7185 CAP_FILE_SIZE 87122,0

TCM_TEMP 15.10 CFSIZE 260030464,249020416

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 126218600448.000000 CURRENT 0.003,272.89,1

CP_POWER 328.180000 GPS 010921,180701,4750.474,-12510.814,13,0.9,27,15.7,0.4,244.1,10,1.9

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 215 91.35 SBE_CT 418 64 648.67

Roll_motor 42 85 88.13 WL_blue_red_Chl 1324 37 1193.11

VBD_pump_during_apogee 514 926 11477.44 nil 0 0 0.00

VBD_pump_during_surface 205 641 3170.82 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 4712 25 2834.27

Iridium_during_xfer 144 84 295.07 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 2.22

TT8 1574 12 197.93

LPSleep 1177 2 26.54

TT8_Active 745 12 93.73

TT8_Sampling 1648 37 639.29

TT8_CF8 256 42 113.20

TT8_Kalman 0 0 0.00

Analog_circuits 1619 11 183.27

GPS_charging 0 0 0.00

Compass 1579 8 133.97

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.79 -116.8 179 2060 751 427 0.0 0.0 0 133 0.00 0.00 -105.20 0.010 16386 0.000 0.000 179 2062 3039 3030 3049 0 0 0 0 0 0 26.05 28.83 26.10

135 -0.79 -116.8 179 2062 3031 3049 3.8 -7.2 15 159 8.25 1.38 -10.05 0.020 18724 0.216 0.074 2321 2923 3529 3528 3530 0 0 0 0 0 0 25.82 24.87 25.96

167 -0.79 -116.8 2320 2924 3530 3530 14.5 -30.5 19 174 0.00 1.30 0.00 0.000 1030 0.000 0.031 2321 2044 3530 3531 3529 0 0 0 0 0 0 26.18 26.16 26.21

303 -0.79 -116.8 2320 2040 3535 3529 40.1 -18.0 44 311 0.00 1.35 0.00 0.000 260 0.000 0.044 2314 2922 3532 3535 3529 0 0 0 0 0 0 26.33 26.20 26.39

543 -0.79 -116.8 2314 2922 3537 3529 77.9 -14.8 90 551 0.05 1.27 0.00 0.000 3078 0.193 0.033 2327 2044 3533 3537 3529 0 0 0 0 0 0 26.17 26.37 26.27

676 -0.79 -116.8 2327 2040 3539 3528 95.8 -12.9 115 683 0.00 1.27 0.00 0.000 516 0.000 0.044 2334 1193 3533 3538 3528 0 0 0 0 0 0 26.52 26.37 26.58

809 -0.79 -116.8 2333 1193 3540 3527 114.2 -13.0 140 817 0.00 1.30 0.00 0.000 1030 0.000 0.038 2329 2047 3533 3540 3527 0 0 0 0 0 0 26.50 26.47 26.52

937 -0.79 -116.8 2329 2047 3540 3527 130.8 -13.0 153 941 0.00 1.30 0.00 0.000 260 0.000 0.044 2323 2916 3533 3540 3527 0 0 0 0 0 0 26.52 26.48 26.58

981 -0.79 -116.8 2322 2916 3540 3527 136.4 -12.8 161 985 0.00 1.25 0.00 0.000 1030 0.000 0.030 2327 2052 3534 3540 3528 0 0 0 0 0 0 26.56 26.53 26.60

1113 -0.79 -116.8 2327 2049 3541 3526 152.9 -12.3 175 1116 0.00 1.30 0.00 0.000 516 0.000 0.039 2334 1182 3533 3541 3526 0 0 0 0 0 0 26.61 26.52 26.66

1209 -0.79 -116.8 2333 1182 3540 3526 164.7 -12.4 193 1213 0.00 1.33 0.00 0.000 1030 0.000 0.035 2329 2056 3533 3541 3526 0 0 0 0 0 0 26.55 26.55 26.55

1341 -0.79 -116.8 2328 2056 3540 3525 180.9 -12.2 207 1343 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2056 3533 3541 3525 0 0 0 0 0 0 26.65 26.71 26.71

1461 -0.79 -116.8 2329 2056 3541 3525 195.3 -12.4 219 1465 0.00 1.33 0.00 0.000 516 0.000 0.041 2334 1181 3532 3540 3525 0 0 0 0 0 0 26.67 26.57 26.73

1506 -0.79 -116.8 2333 1181 3540 3525 200.2 -11.4 227 1509 0.00 1.33 0.00 0.000 1030 0.000 0.086 2329 2052 3532 3540 3525 0 0 0 0 0 0 26.62 26.58 26.65

1638 -0.79 -116.8 2328 2052 3541 3525 215.7 -11.7 241 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2052 3533 3541 3525 0 0 0 0 0 0 26.69 26.77 26.75

1770 -0.79 -116.8 2329 2052 3540 3524 231.3 -11.9 254 1773 0.00 1.30 0.00 0.000 516 0.000 0.038 2334 1187 3533 3541 3525 0 0 0 0 0 0 26.70 26.60 26.76

1814 -0.79 -116.8 2333 1187 3541 3524 237.1 -12.1 263 1822 0.00 1.30 0.00 0.000 1030 0.000 0.036 2329 2047 3532 3541 3524 0 0 0 0 0 0 26.62 26.61 26.60

1944 -0.79 -116.8 2329 2046 3541 3524 251.3 -10.7 276 1952 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2047 3532 3541 3524 0 0 0 0 0 0 26.59 26.64 26.65

2073 -0.79 -116.8 2327 2047 3541 3524 265.9 -12.3 289 2081 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2047 3532 3540 3524 0 0 0 0 0 0 26.73 26.79 26.80

2092 end dive: TARGET_DEPTH_EXCEEDED

state 2092 begin apogee

2096 -0.18 0.0 2329 1830 3541 3523 268.2 -11.8 291 2236 0.62 0.00 130.65 0.926 10246 0.151 0.000 2520 1828 3051 3111 2991 0 0 0 0 1 0 26.38 24.86 24.06

2240 end apogee: CONTROL_FINISHED_OK

state 2241 begin climb

2243 0.79 116.8 2520 1828 3114 2997 275.0 0.0 305 2433 1.02 1.30 182.65 0.578 11012 0.117 0.034 2826 2714 2570 2668 2473 0 0 0 0 0 0 25.06 24.90 24.58

2487 0.90 213.7 2826 2713 2643 2456 274.7 4.4 350 2650 0.12 1.27 153.65 0.573 11302 0.129 0.035 2875 1880 2175 2308 2042 0 0 0 0 0 0 25.39 25.47 24.54

2769 0.90 213.7 2874 1880 2281 2023 244.3 13.4 393 2774 0.00 1.33 0.00 0.000 260 0.000 0.044 2871 2717 2152 2281 2023 0 0 0 0 0 0 25.76 25.69 25.84

2816 0.90 213.7 2870 2717 2278 2022 237.7 13.0 402 2824 0.00 1.30 0.00 0.000 1030 0.000 0.035 2876 1861 2150 2278 2023 0 0 0 0 0 0 25.86 25.82 25.86

2947 0.90 213.7 2875 1861 2276 2023 221.7 12.7 415 2950 0.00 1.38 0.00 0.000 516 0.000 0.046 2882 987 2149 2276 2023 0 0 0 0 0 0 26.09 26.01 26.15

2992 0.90 213.7 2881 986 2276 2023 215.1 13.6 424 3000 0.00 1.33 0.00 0.000 1030 0.000 0.034 2878 1842 2149 2276 2023 0 0 0 0 0 0 26.12 26.09 26.14

3120 0.90 213.7 2877 1842 2274 2022 198.3 13.3 437 3125 0.00 1.35 0.00 0.000 260 0.000 0.045 2871 2721 2148 2274 2023 0 0 0 0 0 0 26.23 26.19 26.30

3166 0.90 213.7 2871 2722 2273 2022 191.8 14.6 445 3170 0.00 1.30 0.00 0.000 1030 0.000 0.037 2876 1856 2148 2273 2023 0 0 0 0 0 0 26.22 26.22 26.24

3300 0.90 213.7 2875 1856 2273 2023 174.3 13.3 459 3304 0.00 1.38 0.00 0.000 516 0.000 0.047 2883 978 2148 2273 2023 0 0 0 0 0 0 26.40 26.27 26.46

3377 0.90 213.7 2882 977 2272 2023 163.4 13.0 474 3385 0.00 1.35 0.00 0.000 1030 0.000 0.034 2878 1857 2148 2273 2023 0 0 0 0 0 0 26.39 26.36 26.39

3507 0.90 213.7 2878 1857 2270 2023 147.4 12.6 487 3514 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1857 2147 2271 2023 0 0 0 0 0 0 26.48 26.47 26.48

3635 0.90 213.7 2878 1857 2270 2023 130.7 13.2 500 3637 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1857 2146 2270 2023 0 0 0 0 0 0 26.54 26.60 26.60

3755 0.90 213.7 2878 1857 2270 2023 115.7 11.9 512 3757 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1857 2146 2269 2023 0 0 0 0 0 0 26.57 26.64 26.63

3877 0.90 213.7 2878 1857 2269 2022 101.7 11.7 524 3882 0.00 1.30 0.00 0.000 260 0.000 0.046 2872 2718 2145 2269 2022 0 0 0 0 0 0 26.60 26.48 26.66

3900 0.90 213.7 2872 2718 2268 2022 98.8 12.2 528 3908 0.00 1.30 0.00 0.000 1030 0.000 0.037 2877 1845 2145 2268 2022 0 0 0 0 0 0 26.55 26.51 26.57

4038 0.90 213.7 2875 1844 2269 2023 81.4 12.7 553 4045 0.00 1.35 0.00 0.000 516 0.000 0.049 2883 977 2146 2269 2023 0 0 0 0 0 0 26.63 26.51 26.69

4165 0.90 213.7 2883 977 2267 2023 65.5 11.4 577 4173 0.00 1.33 0.00 0.000 1030 0.000 0.035 2879 1852 2145 2268 2023 0 0 0 0 0 0 26.59 26.55 26.62

4298 0.91 218.3 2878 1852 2268 2023 51.0 9.7 602 4306 0.00 1.30 0.00 0.000 292 0.000 0.051 2873 2723 2144 2267 2022 0 0 0 0 0 0 26.67 26.51 26.72

4340 0.93 234.6 2873 2723 2266 2023 47.3 9.1 609 4361 0.00 1.30 15.45 0.614 9254 0.000 0.035 2877 1850 2091 2218 1965 0 0 0 0 0 0 26.62 26.59 25.75

4488 0.93 234.6 2876 1849 2200 1952 33.8 10.6 636 4496 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 1849 2076 2200 1952 0 0 0 0 0 0 26.53 26.60 26.59

4621 0.96 259.8 2877 1849 2198 1952 22.0 8.5 661 4659 0.00 1.40 32.53 0.550 8740 0.000 0.047 2884 979 1986 2119 1854 0 0 0 0 0 0 26.57 26.04 25.54

4869 end climb: SURFACE_DEPTH_REACHED

state 4869 begin surface coast

4903 end surface coast: CONTROL_FINISHED_OK

state 4903 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	25	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	50	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	1
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	1.5	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	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	010921,163531,4750.8374,-12510.2207,19,0.7,20,15.7,0.2,0.0,11,3.5	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	0.45	MHEAD_RNG_PITCHd_Wd	200.1,6886,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-63.5	D_GRID	266
GPS2	010921,163915,4750.8301,-12510.2578,4,0.6,6,15.7,0.4,190.1,12,9.3

FINISH	-0.4,1.025779	_24V_AH	24.06,8.025
SM_CCo	4924,205.57,0.641,1,0,591,603.44	_10V_AH	10.29,4.898
SM_GC	0.42,7.53,1.65,205.57,0.062,0.030,0.641,185,2042,591,-7.41,-1.58,603.44,0,0,0,0,1,0,26.37,26.34,24.53	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4749.27,-12516.60,010921,151155	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.147553	MEM	211752
HUMID	53.26	DATA_FILE_SIZE	36838,713
INTERNAL_PRESSURE	8.7185	CAP_FILE_SIZE	87122,0
TCM_TEMP	15.10	CFSIZE	260030464,249020416
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	126218600448.000000	CURRENT	0.003,272.89,1
CP_POWER	328.180000	GPS	010921,180701,4750.474,-12510.814,13,0.9,27,15.7,0.4,244.1,10,1.9
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	215	91.35	SBE_CT	418	64	648.67
Roll_motor	42	85	88.13	WL_blue_red_Chl	1324	37	1193.11
VBD_pump_during_apogee	514	926	11477.44	nil	0	0	0.00
VBD_pump_during_surface	205	641	3170.82	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	4712	25	2834.27
Iridium_during_xfer	144	84	295.07	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	2.22
TT8	1574	12	197.93
LPSleep	1177	2	26.54
TT8_Active	745	12	93.73
TT8_Sampling	1648	37	639.29
TT8_CF8	256	42	113.20
TT8_Kalman	0	0	0.00
Analog_circuits	1619	11	183.27
GPS_charging	0	0	0.00
Compass	1579	8	133.97
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.79	-116.8	179	2060	751	427	0.0	0.0	0	133	0.00	0.00	-105.20	0.010	16386	0.000	0.000	179	2062	3039	3030	3049	0	0	0	0	0	0	26.05	28.83	26.10
135	-0.79	-116.8	179	2062	3031	3049	3.8	-7.2	15	159	8.25	1.38	-10.05	0.020	18724	0.216	0.074	2321	2923	3529	3528	3530	0	0	0	0	0	0	25.82	24.87	25.96
167	-0.79	-116.8	2320	2924	3530	3530	14.5	-30.5	19	174	0.00	1.30	0.00	0.000	1030	0.000	0.031	2321	2044	3530	3531	3529	0	0	0	0	0	0	26.18	26.16	26.21
303	-0.79	-116.8	2320	2040	3535	3529	40.1	-18.0	44	311	0.00	1.35	0.00	0.000	260	0.000	0.044	2314	2922	3532	3535	3529	0	0	0	0	0	0	26.33	26.20	26.39
543	-0.79	-116.8	2314	2922	3537	3529	77.9	-14.8	90	551	0.05	1.27	0.00	0.000	3078	0.193	0.033	2327	2044	3533	3537	3529	0	0	0	0	0	0	26.17	26.37	26.27
676	-0.79	-116.8	2327	2040	3539	3528	95.8	-12.9	115	683	0.00	1.27	0.00	0.000	516	0.000	0.044	2334	1193	3533	3538	3528	0	0	0	0	0	0	26.52	26.37	26.58
809	-0.79	-116.8	2333	1193	3540	3527	114.2	-13.0	140	817	0.00	1.30	0.00	0.000	1030	0.000	0.038	2329	2047	3533	3540	3527	0	0	0	0	0	0	26.50	26.47	26.52
937	-0.79	-116.8	2329	2047	3540	3527	130.8	-13.0	153	941	0.00	1.30	0.00	0.000	260	0.000	0.044	2323	2916	3533	3540	3527	0	0	0	0	0	0	26.52	26.48	26.58
981	-0.79	-116.8	2322	2916	3540	3527	136.4	-12.8	161	985	0.00	1.25	0.00	0.000	1030	0.000	0.030	2327	2052	3534	3540	3528	0	0	0	0	0	0	26.56	26.53	26.60
1113	-0.79	-116.8	2327	2049	3541	3526	152.9	-12.3	175	1116	0.00	1.30	0.00	0.000	516	0.000	0.039	2334	1182	3533	3541	3526	0	0	0	0	0	0	26.61	26.52	26.66
1209	-0.79	-116.8	2333	1182	3540	3526	164.7	-12.4	193	1213	0.00	1.33	0.00	0.000	1030	0.000	0.035	2329	2056	3533	3541	3526	0	0	0	0	0	0	26.55	26.55	26.55
1341	-0.79	-116.8	2328	2056	3540	3525	180.9	-12.2	207	1343	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2056	3533	3541	3525	0	0	0	0	0	0	26.65	26.71	26.71
1461	-0.79	-116.8	2329	2056	3541	3525	195.3	-12.4	219	1465	0.00	1.33	0.00	0.000	516	0.000	0.041	2334	1181	3532	3540	3525	0	0	0	0	0	0	26.67	26.57	26.73
1506	-0.79	-116.8	2333	1181	3540	3525	200.2	-11.4	227	1509	0.00	1.33	0.00	0.000	1030	0.000	0.086	2329	2052	3532	3540	3525	0	0	0	0	0	0	26.62	26.58	26.65
1638	-0.79	-116.8	2328	2052	3541	3525	215.7	-11.7	241	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2052	3533	3541	3525	0	0	0	0	0	0	26.69	26.77	26.75
1770	-0.79	-116.8	2329	2052	3540	3524	231.3	-11.9	254	1773	0.00	1.30	0.00	0.000	516	0.000	0.038	2334	1187	3533	3541	3525	0	0	0	0	0	0	26.70	26.60	26.76
1814	-0.79	-116.8	2333	1187	3541	3524	237.1	-12.1	263	1822	0.00	1.30	0.00	0.000	1030	0.000	0.036	2329	2047	3532	3541	3524	0	0	0	0	0	0	26.62	26.61	26.60
1944	-0.79	-116.8	2329	2046	3541	3524	251.3	-10.7	276	1952	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2047	3532	3541	3524	0	0	0	0	0	0	26.59	26.64	26.65
2073	-0.79	-116.8	2327	2047	3541	3524	265.9	-12.3	289	2081	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2047	3532	3540	3524	0	0	0	0	0	0	26.73	26.79	26.80
2092	end dive: TARGET_DEPTH_EXCEEDED
state	2092	begin apogee
2096	-0.18	0.0	2329	1830	3541	3523	268.2	-11.8	291	2236	0.62	0.00	130.65	0.926	10246	0.151	0.000	2520	1828	3051	3111	2991	0	0	0	0	1	0	26.38	24.86	24.06
2240	end apogee: CONTROL_FINISHED_OK
state	2241	begin climb
2243	0.79	116.8	2520	1828	3114	2997	275.0	0.0	305	2433	1.02	1.30	182.65	0.578	11012	0.117	0.034	2826	2714	2570	2668	2473	0	0	0	0	0	0	25.06	24.90	24.58
2487	0.90	213.7	2826	2713	2643	2456	274.7	4.4	350	2650	0.12	1.27	153.65	0.573	11302	0.129	0.035	2875	1880	2175	2308	2042	0	0	0	0	0	0	25.39	25.47	24.54
2769	0.90	213.7	2874	1880	2281	2023	244.3	13.4	393	2774	0.00	1.33	0.00	0.000	260	0.000	0.044	2871	2717	2152	2281	2023	0	0	0	0	0	0	25.76	25.69	25.84
2816	0.90	213.7	2870	2717	2278	2022	237.7	13.0	402	2824	0.00	1.30	0.00	0.000	1030	0.000	0.035	2876	1861	2150	2278	2023	0	0	0	0	0	0	25.86	25.82	25.86
2947	0.90	213.7	2875	1861	2276	2023	221.7	12.7	415	2950	0.00	1.38	0.00	0.000	516	0.000	0.046	2882	987	2149	2276	2023	0	0	0	0	0	0	26.09	26.01	26.15
2992	0.90	213.7	2881	986	2276	2023	215.1	13.6	424	3000	0.00	1.33	0.00	0.000	1030	0.000	0.034	2878	1842	2149	2276	2023	0	0	0	0	0	0	26.12	26.09	26.14
3120	0.90	213.7	2877	1842	2274	2022	198.3	13.3	437	3125	0.00	1.35	0.00	0.000	260	0.000	0.045	2871	2721	2148	2274	2023	0	0	0	0	0	0	26.23	26.19	26.30
3166	0.90	213.7	2871	2722	2273	2022	191.8	14.6	445	3170	0.00	1.30	0.00	0.000	1030	0.000	0.037	2876	1856	2148	2273	2023	0	0	0	0	0	0	26.22	26.22	26.24
3300	0.90	213.7	2875	1856	2273	2023	174.3	13.3	459	3304	0.00	1.38	0.00	0.000	516	0.000	0.047	2883	978	2148	2273	2023	0	0	0	0	0	0	26.40	26.27	26.46
3377	0.90	213.7	2882	977	2272	2023	163.4	13.0	474	3385	0.00	1.35	0.00	0.000	1030	0.000	0.034	2878	1857	2148	2273	2023	0	0	0	0	0	0	26.39	26.36	26.39
3507	0.90	213.7	2878	1857	2270	2023	147.4	12.6	487	3514	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1857	2147	2271	2023	0	0	0	0	0	0	26.48	26.47	26.48
3635	0.90	213.7	2878	1857	2270	2023	130.7	13.2	500	3637	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1857	2146	2270	2023	0	0	0	0	0	0	26.54	26.60	26.60
3755	0.90	213.7	2878	1857	2270	2023	115.7	11.9	512	3757	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1857	2146	2269	2023	0	0	0	0	0	0	26.57	26.64	26.63
3877	0.90	213.7	2878	1857	2269	2022	101.7	11.7	524	3882	0.00	1.30	0.00	0.000	260	0.000	0.046	2872	2718	2145	2269	2022	0	0	0	0	0	0	26.60	26.48	26.66
3900	0.90	213.7	2872	2718	2268	2022	98.8	12.2	528	3908	0.00	1.30	0.00	0.000	1030	0.000	0.037	2877	1845	2145	2268	2022	0	0	0	0	0	0	26.55	26.51	26.57
4038	0.90	213.7	2875	1844	2269	2023	81.4	12.7	553	4045	0.00	1.35	0.00	0.000	516	0.000	0.049	2883	977	2146	2269	2023	0	0	0	0	0	0	26.63	26.51	26.69
4165	0.90	213.7	2883	977	2267	2023	65.5	11.4	577	4173	0.00	1.33	0.00	0.000	1030	0.000	0.035	2879	1852	2145	2268	2023	0	0	0	0	0	0	26.59	26.55	26.62
4298	0.91	218.3	2878	1852	2268	2023	51.0	9.7	602	4306	0.00	1.30	0.00	0.000	292	0.000	0.051	2873	2723	2144	2267	2022	0	0	0	0	0	0	26.67	26.51	26.72
4340	0.93	234.6	2873	2723	2266	2023	47.3	9.1	609	4361	0.00	1.30	15.45	0.614	9254	0.000	0.035	2877	1850	2091	2218	1965	0	0	0	0	0	0	26.62	26.59	25.75
4488	0.93	234.6	2876	1849	2200	1952	33.8	10.6	636	4496	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	1849	2076	2200	1952	0	0	0	0	0	0	26.53	26.60	26.59
4621	0.96	259.8	2877	1849	2198	1952	22.0	8.5	661	4659	0.00	1.40	32.53	0.550	8740	0.000	0.047	2884	979	1986	2119	1854	0	0	0	0	0	0	26.57	26.04	25.54
4869	end climb: SURFACE_DEPTH_REACHED
state	4869	begin surface coast
4903	end surface coast: CONTROL_FINISHED_OK
state	4903	begin surface