Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 3 * 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 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 0

N_DIVES 3 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 42 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 180 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 250 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 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 60 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 75 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 2620 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 150 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 30 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 0.0099999998 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 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 40 ALTIM_PING_FIT 0 CP_STARTS 4.0

HD_B 0.0099999998 C_ROLL_DIVE 1900 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1900 ALTIM_BOTTOM_TURN_MARGIN 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 3 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 180 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.0099999998 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 30 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 60

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0 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 75

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 4.0 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 2620 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1900 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 1900 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 40 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 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 42 XPDR_INHIBIT 90

DIVE 3 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 250 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 300821,222921,4751.4824,-12509.7041,2,0.8,3,15.7,0.8,175.4,12,9.8 SPEED_LIMITS 0.173,0.259

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.55 MHEAD_RNG_PITCHd_Wd 219.5,945,-15.8,-10.000,-21.14,2219

_SM_ANGLEo -62.3 D_GRID 222

GPS2 300821,223231,4751.4609,-12509.6729,3,0.7,5,15.7,0.7,173.8,12,7.3

Post-dive calculations and measurements:

FINISH -0.1,1.026824 _24V_AH 24.75,4.447

SM_CCo 4305,124.72,0.657,1,0,591,603.44 _10V_AH 10.34,3.362

SM_GC 0.41,7.38,0.00,124.72,0.052,0.000,0.657,173,1899,591,-7.47,-0.03,603.44,0,0,0,0,1,0,26.47,26.67,24.75 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4750.34,-12512.13,300821,222732 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.182756 MEM 212096

HUMID 57.44 DATA_FILE_SIZE 33520,649

INTERNAL_PRESSURE 8.74779 CAP_FILE_SIZE 98563,0

TCM_TEMP 15.10 CFSIZE 260030464,250761216

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

CP_FREE 127416107008.000000 CURRENT 0.054,129.39,1

CP_POWER 316.710000 GPS 300821,234839,4751.061,-12510.244,22,1.0,30,15.7,0.3,93.5,12,3.0

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 213 91.92 SBE_CT 383 64 611.32

Roll_motor 60 76 113.98 WL_blue_red_Chl 1227 37 1137.55

VBD_pump_during_apogee 768 586 11153.04 nil 0 0 0.00

VBD_pump_during_surface 124 657 2028.54 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 4071 25 2518.93

Iridium_during_xfer 0 0 0.00 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 2.17

TT8 1365 12 172.49

LPSleep 722 2 16.36

TT8_Active 843 12 106.55

TT8_Sampling 1389 37 541.56

TT8_CF8 220 42 98.01

TT8_Kalman 0 0 0.00

Analog_circuits 1579 11 179.67

GPS_charging 0 0 0.00

Compass 1447 8 123.36

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

24 -0.53 -146.0 187 1912 730 447 0.0 0.0 0 138 0.00 0.00 -111.43 0.010 16386 0.000 0.000 187 1912 3266 3260 3273 0 0 0 0 0 0 26.58 28.83 26.66

141 -0.53 -146.0 188 1912 3260 3273 4.6 -9.3 16 165 8.25 2.10 -7.12 0.016 18724 0.213 0.060 2416 3301 3643 3644 3643 0 0 0 0 0 0 26.16 25.92 26.34

251 -0.53 -146.0 2415 3301 3649 3641 24.1 -10.9 35 259 0.05 2.10 0.00 0.000 3078 0.179 0.034 2429 1885 3645 3649 3641 0 0 0 0 0 0 26.37 26.60 26.46

388 -0.54 -146.0 2428 1885 3651 3640 39.4 -11.2 60 395 0.00 0.00 0.00 0.000 134 0.000 0.000 2429 1885 3645 3651 3640 0 0 0 0 0 0 26.73 26.79 26.79

521 -0.57 -146.0 2429 1885 3652 3640 52.9 -9.2 85 530 0.00 2.17 0.00 0.000 420 0.000 0.045 2421 3305 3645 3652 3639 0 0 0 0 0 0 26.70 26.60 26.74

594 -0.60 -146.0 2420 3305 3652 3639 59.0 -8.2 98 601 0.00 2.08 0.00 0.000 1190 0.000 0.031 2429 1899 3645 3652 3639 0 0 0 0 0 0 26.71 26.67 26.73

733 -0.63 -146.0 2429 1899 3652 3639 70.9 -9.2 123 741 0.00 2.12 0.00 0.000 676 0.000 0.045 2440 511 3645 3652 3639 0 0 0 0 0 0 26.75 26.63 26.82

760 -0.67 -146.0 2439 511 3652 3639 73.3 -8.6 127 768 0.00 2.10 0.00 0.000 1190 0.000 0.032 2431 1903 3645 3653 3638 0 0 0 0 0 0 26.67 26.67 26.67

894 -0.71 -146.0 2430 1903 3653 3638 84.1 -8.7 152 902 0.10 2.12 0.00 0.000 4516 0.161 0.044 2383 3300 3645 3652 3638 0 0 0 0 0 0 26.57 26.66 26.67

1023 -0.73 -146.0 2383 3300 3653 3638 97.6 -11.3 176 1030 0.00 2.08 0.00 0.000 1158 0.000 0.031 2387 1895 3645 3652 3638 0 0 0 0 0 0 26.75 26.72 26.77

1159 -0.73 -146.0 2386 1895 3653 3638 111.5 -10.6 191 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1895 3644 3652 3637 0 0 0 0 0 0 26.82 26.89 26.87

1279 -0.75 -146.0 2386 1895 3653 3637 124.9 -11.3 203 1281 0.00 0.00 0.00 0.000 134 0.000 0.000 2387 1895 3644 3652 3637 0 0 0 0 0 0 26.83 26.89 26.90

1399 -0.75 -146.0 2386 1894 3653 3636 135.9 -8.9 215 1403 0.00 2.10 0.00 0.000 292 0.000 0.044 2379 3305 3643 3652 3635 0 0 0 0 0 0 26.77 26.67 26.83

1463 -0.77 -146.0 2378 3305 3653 3636 141.3 -7.9 227 1467 0.00 2.03 0.00 0.000 1190 0.000 0.034 2387 1901 3644 3652 3636 0 0 0 0 0 0 26.80 26.75 26.81

1596 -0.78 -146.0 2386 1899 3652 3635 153.1 -9.4 241 1604 0.00 0.00 0.00 0.000 166 0.000 0.000 2387 1899 3643 3652 3635 0 0 0 0 0 0 26.79 26.88 26.86

1726 -0.80 -146.0 2386 1899 3652 3634 165.4 -8.6 254 1730 0.00 2.10 0.00 0.000 420 0.000 0.047 2378 3305 3643 3652 3634 0 0 0 0 0 0 26.79 26.67 26.85

1781 -0.82 -146.0 2379 3306 3653 3634 170.1 -8.3 264 1785 0.00 2.05 0.00 0.000 1190 0.000 0.064 2386 1890 3643 3653 3634 0 0 0 0 0 0 26.81 26.76 26.82

1891 end dive: TARGET_DEPTH_EXCEEDED

state 1891 begin apogee

1895 -0.17 0.0 2386 1890 3653 3633 180.8 -9.8 276 2104 0.50 0.00 205.07 0.587 10246 0.135 0.000 2546 1886 3049 3111 2988 0 0 0 0 0 0 26.43 25.33 24.89

2110 end apogee: CONTROL_FINISHED_OK

state 2110 begin climb

2111 0.53 146.0 2546 1886 3094 2968 185.9 0.0 297 2328 0.75 2.17 204.02 0.548 10756 0.112 0.041 2789 515 2439 2548 2330 0 0 0 0 0 0 25.43 25.15 24.87

2416 0.53 158.9 2788 515 2520 2309 175.8 9.4 354 2420 0.00 2.12 0.00 0.000 1062 0.000 0.034 2780 1901 2414 2520 2309 0 0 0 0 0 0 25.90 25.87 25.89

2548 0.53 215.1 2780 1901 2515 2305 165.9 7.4 368 2648 0.00 0.00 91.75 0.558 8486 0.000 0.000 2780 1902 2163 2280 2046 0 0 0 0 0 0 26.20 25.31 25.01

2772 0.54 245.0 2779 1902 2248 2014 146.7 8.6 396 2813 0.00 2.20 34.05 0.572 8612 0.000 0.046 2770 3307 2043 2167 1920 0 0 0 0 0 0 26.11 25.53 25.24

2850 0.57 273.8 2769 3307 2138 1901 138.8 8.7 411 2899 0.00 2.15 36.33 0.558 9382 0.000 0.033 2778 1914 1923 2051 1795 0 0 0 0 0 0 25.95 25.92 25.13

3021 0.60 328.6 2778 1914 2026 1773 126.2 7.5 432 3124 0.08 2.33 92.68 0.533 10916 0.168 0.050 2811 498 1701 1834 1569 0 0 0 0 0 0 25.98 25.46 25.01

3151 0.64 335.2 2810 498 1803 1553 114.7 9.7 457 3158 0.00 2.20 0.00 0.000 1190 0.000 0.035 2802 1891 1676 1802 1551 0 0 0 0 0 0 25.76 25.71 25.79

3281 0.67 352.7 2801 1891 1798 1545 103.2 9.2 470 3313 0.08 2.28 26.55 0.555 10660 0.176 0.048 2809 3302 1610 1742 1478 0 0 0 0 0 0 26.00 25.78 25.34

3381 0.70 352.7 2810 3303 1716 1447 92.9 10.6 488 3389 0.00 2.15 0.00 0.000 1158 0.000 0.034 2818 1906 1580 1716 1444 0 0 0 0 0 0 26.08 26.06 26.10

3519 0.73 352.7 2818 1905 1714 1442 78.3 10.3 513 3527 0.08 2.22 0.00 0.000 2692 0.177 0.051 2845 502 1577 1713 1442 0 0 0 0 0 0 26.14 26.20 26.25

3601 0.75 352.7 2845 502 1710 1442 68.5 12.6 528 3610 0.00 2.15 0.00 0.000 1158 0.000 0.036 2837 1893 1576 1710 1442 0 0 0 0 0 0 26.32 26.29 26.36

3736 0.77 395.1 2835 1893 1710 1442 54.7 8.0 553 3800 0.00 2.20 51.60 0.533 8612 0.000 0.047 2826 3307 1434 1578 1291 0 0 0 0 1 0 26.49 25.64 25.23

3834 0.82 409.0 2826 3306 1578 1291 45.7 9.4 568 3865 0.08 2.17 25.95 0.536 11430 0.127 0.036 2862 1896 1385 1531 1239 0 0 0 0 0 0 25.91 26.05 25.27

3991 0.83 409.0 2862 1896 1500 1211 28.8 10.4 596 4000 0.00 2.22 0.00 0.000 644 0.000 0.050 2873 501 1355 1499 1211 0 0 0 0 0 0 26.15 26.10 26.22

4018 0.86 418.1 2872 501 1498 1211 26.2 9.6 600 4026 0.00 2.17 0.00 0.000 1190 0.000 0.035 2865 1903 1355 1499 1211 0 0 0 0 0 0 26.20 26.16 26.21

4153 0.88 418.1 2864 1902 1498 1211 13.1 10.1 625 4161 0.08 2.17 0.00 0.000 2436 0.161 0.076 2876 3299 1353 1497 1210 0 0 0 0 0 0 26.22 26.29 26.32

4194 0.91 418.1 2876 3299 1498 1211 8.4 11.4 632 4202 0.00 2.12 0.00 0.000 1158 0.000 0.036 2885 1902 1354 1498 1210 0 0 0 0 0 0 26.37 26.34 26.40

4265 end climb: SURFACE_DEPTH_REACHED

state 4265 begin surface coast

4287 end surface coast: CONTROL_FINISHED_OK

state 4287 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	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	0
N_DIVES	3	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	42	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	180	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	250	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	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	60	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	75	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	2620	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	150	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	30	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	0.0099999998	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	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	40	ALTIM_PING_FIT	0	CP_STARTS	4.0
HD_B	0.0099999998	C_ROLL_DIVE	1900	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1900	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	300821,222921,4751.4824,-12509.7041,2,0.8,3,15.7,0.8,175.4,12,9.8	SPEED_LIMITS	0.173,0.259
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.55	MHEAD_RNG_PITCHd_Wd	219.5,945,-15.8,-10.000,-21.14,2219
_SM_ANGLEo	-62.3	D_GRID	222
GPS2	300821,223231,4751.4609,-12509.6729,3,0.7,5,15.7,0.7,173.8,12,7.3

FINISH	-0.1,1.026824	_24V_AH	24.75,4.447
SM_CCo	4305,124.72,0.657,1,0,591,603.44	_10V_AH	10.34,3.362
SM_GC	0.41,7.38,0.00,124.72,0.052,0.000,0.657,173,1899,591,-7.47,-0.03,603.44,0,0,0,0,1,0,26.47,26.67,24.75	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4750.34,-12512.13,300821,222732	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.182756	MEM	212096
HUMID	57.44	DATA_FILE_SIZE	33520,649
INTERNAL_PRESSURE	8.74779	CAP_FILE_SIZE	98563,0
TCM_TEMP	15.10	CFSIZE	260030464,250761216
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	127416107008.000000	CURRENT	0.054,129.39,1
CP_POWER	316.710000	GPS	300821,234839,4751.061,-12510.244,22,1.0,30,15.7,0.3,93.5,12,3.0
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	213	91.92	SBE_CT	383	64	611.32
Roll_motor	60	76	113.98	WL_blue_red_Chl	1227	37	1137.55
VBD_pump_during_apogee	768	586	11153.04	nil	0	0	0.00
VBD_pump_during_surface	124	657	2028.54	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	4071	25	2518.93
Iridium_during_xfer	0	0	0.00	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	2.17
TT8	1365	12	172.49
LPSleep	722	2	16.36
TT8_Active	843	12	106.55
TT8_Sampling	1389	37	541.56
TT8_CF8	220	42	98.01
TT8_Kalman	0	0	0.00
Analog_circuits	1579	11	179.67
GPS_charging	0	0	0.00
Compass	1447	8	123.36
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
24	-0.53	-146.0	187	1912	730	447	0.0	0.0	0	138	0.00	0.00	-111.43	0.010	16386	0.000	0.000	187	1912	3266	3260	3273	0	0	0	0	0	0	26.58	28.83	26.66
141	-0.53	-146.0	188	1912	3260	3273	4.6	-9.3	16	165	8.25	2.10	-7.12	0.016	18724	0.213	0.060	2416	3301	3643	3644	3643	0	0	0	0	0	0	26.16	25.92	26.34
251	-0.53	-146.0	2415	3301	3649	3641	24.1	-10.9	35	259	0.05	2.10	0.00	0.000	3078	0.179	0.034	2429	1885	3645	3649	3641	0	0	0	0	0	0	26.37	26.60	26.46
388	-0.54	-146.0	2428	1885	3651	3640	39.4	-11.2	60	395	0.00	0.00	0.00	0.000	134	0.000	0.000	2429	1885	3645	3651	3640	0	0	0	0	0	0	26.73	26.79	26.79
521	-0.57	-146.0	2429	1885	3652	3640	52.9	-9.2	85	530	0.00	2.17	0.00	0.000	420	0.000	0.045	2421	3305	3645	3652	3639	0	0	0	0	0	0	26.70	26.60	26.74
594	-0.60	-146.0	2420	3305	3652	3639	59.0	-8.2	98	601	0.00	2.08	0.00	0.000	1190	0.000	0.031	2429	1899	3645	3652	3639	0	0	0	0	0	0	26.71	26.67	26.73
733	-0.63	-146.0	2429	1899	3652	3639	70.9	-9.2	123	741	0.00	2.12	0.00	0.000	676	0.000	0.045	2440	511	3645	3652	3639	0	0	0	0	0	0	26.75	26.63	26.82
760	-0.67	-146.0	2439	511	3652	3639	73.3	-8.6	127	768	0.00	2.10	0.00	0.000	1190	0.000	0.032	2431	1903	3645	3653	3638	0	0	0	0	0	0	26.67	26.67	26.67
894	-0.71	-146.0	2430	1903	3653	3638	84.1	-8.7	152	902	0.10	2.12	0.00	0.000	4516	0.161	0.044	2383	3300	3645	3652	3638	0	0	0	0	0	0	26.57	26.66	26.67
1023	-0.73	-146.0	2383	3300	3653	3638	97.6	-11.3	176	1030	0.00	2.08	0.00	0.000	1158	0.000	0.031	2387	1895	3645	3652	3638	0	0	0	0	0	0	26.75	26.72	26.77
1159	-0.73	-146.0	2386	1895	3653	3638	111.5	-10.6	191	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	1895	3644	3652	3637	0	0	0	0	0	0	26.82	26.89	26.87
1279	-0.75	-146.0	2386	1895	3653	3637	124.9	-11.3	203	1281	0.00	0.00	0.00	0.000	134	0.000	0.000	2387	1895	3644	3652	3637	0	0	0	0	0	0	26.83	26.89	26.90
1399	-0.75	-146.0	2386	1894	3653	3636	135.9	-8.9	215	1403	0.00	2.10	0.00	0.000	292	0.000	0.044	2379	3305	3643	3652	3635	0	0	0	0	0	0	26.77	26.67	26.83
1463	-0.77	-146.0	2378	3305	3653	3636	141.3	-7.9	227	1467	0.00	2.03	0.00	0.000	1190	0.000	0.034	2387	1901	3644	3652	3636	0	0	0	0	0	0	26.80	26.75	26.81
1596	-0.78	-146.0	2386	1899	3652	3635	153.1	-9.4	241	1604	0.00	0.00	0.00	0.000	166	0.000	0.000	2387	1899	3643	3652	3635	0	0	0	0	0	0	26.79	26.88	26.86
1726	-0.80	-146.0	2386	1899	3652	3634	165.4	-8.6	254	1730	0.00	2.10	0.00	0.000	420	0.000	0.047	2378	3305	3643	3652	3634	0	0	0	0	0	0	26.79	26.67	26.85
1781	-0.82	-146.0	2379	3306	3653	3634	170.1	-8.3	264	1785	0.00	2.05	0.00	0.000	1190	0.000	0.064	2386	1890	3643	3653	3634	0	0	0	0	0	0	26.81	26.76	26.82
1891	end dive: TARGET_DEPTH_EXCEEDED
state	1891	begin apogee
1895	-0.17	0.0	2386	1890	3653	3633	180.8	-9.8	276	2104	0.50	0.00	205.07	0.587	10246	0.135	0.000	2546	1886	3049	3111	2988	0	0	0	0	0	0	26.43	25.33	24.89
2110	end apogee: CONTROL_FINISHED_OK
state	2110	begin climb
2111	0.53	146.0	2546	1886	3094	2968	185.9	0.0	297	2328	0.75	2.17	204.02	0.548	10756	0.112	0.041	2789	515	2439	2548	2330	0	0	0	0	0	0	25.43	25.15	24.87
2416	0.53	158.9	2788	515	2520	2309	175.8	9.4	354	2420	0.00	2.12	0.00	0.000	1062	0.000	0.034	2780	1901	2414	2520	2309	0	0	0	0	0	0	25.90	25.87	25.89
2548	0.53	215.1	2780	1901	2515	2305	165.9	7.4	368	2648	0.00	0.00	91.75	0.558	8486	0.000	0.000	2780	1902	2163	2280	2046	0	0	0	0	0	0	26.20	25.31	25.01
2772	0.54	245.0	2779	1902	2248	2014	146.7	8.6	396	2813	0.00	2.20	34.05	0.572	8612	0.000	0.046	2770	3307	2043	2167	1920	0	0	0	0	0	0	26.11	25.53	25.24
2850	0.57	273.8	2769	3307	2138	1901	138.8	8.7	411	2899	0.00	2.15	36.33	0.558	9382	0.000	0.033	2778	1914	1923	2051	1795	0	0	0	0	0	0	25.95	25.92	25.13
3021	0.60	328.6	2778	1914	2026	1773	126.2	7.5	432	3124	0.08	2.33	92.68	0.533	10916	0.168	0.050	2811	498	1701	1834	1569	0	0	0	0	0	0	25.98	25.46	25.01
3151	0.64	335.2	2810	498	1803	1553	114.7	9.7	457	3158	0.00	2.20	0.00	0.000	1190	0.000	0.035	2802	1891	1676	1802	1551	0	0	0	0	0	0	25.76	25.71	25.79
3281	0.67	352.7	2801	1891	1798	1545	103.2	9.2	470	3313	0.08	2.28	26.55	0.555	10660	0.176	0.048	2809	3302	1610	1742	1478	0	0	0	0	0	0	26.00	25.78	25.34
3381	0.70	352.7	2810	3303	1716	1447	92.9	10.6	488	3389	0.00	2.15	0.00	0.000	1158	0.000	0.034	2818	1906	1580	1716	1444	0	0	0	0	0	0	26.08	26.06	26.10
3519	0.73	352.7	2818	1905	1714	1442	78.3	10.3	513	3527	0.08	2.22	0.00	0.000	2692	0.177	0.051	2845	502	1577	1713	1442	0	0	0	0	0	0	26.14	26.20	26.25
3601	0.75	352.7	2845	502	1710	1442	68.5	12.6	528	3610	0.00	2.15	0.00	0.000	1158	0.000	0.036	2837	1893	1576	1710	1442	0	0	0	0	0	0	26.32	26.29	26.36
3736	0.77	395.1	2835	1893	1710	1442	54.7	8.0	553	3800	0.00	2.20	51.60	0.533	8612	0.000	0.047	2826	3307	1434	1578	1291	0	0	0	0	1	0	26.49	25.64	25.23
3834	0.82	409.0	2826	3306	1578	1291	45.7	9.4	568	3865	0.08	2.17	25.95	0.536	11430	0.127	0.036	2862	1896	1385	1531	1239	0	0	0	0	0	0	25.91	26.05	25.27
3991	0.83	409.0	2862	1896	1500	1211	28.8	10.4	596	4000	0.00	2.22	0.00	0.000	644	0.000	0.050	2873	501	1355	1499	1211	0	0	0	0	0	0	26.15	26.10	26.22
4018	0.86	418.1	2872	501	1498	1211	26.2	9.6	600	4026	0.00	2.17	0.00	0.000	1190	0.000	0.035	2865	1903	1355	1499	1211	0	0	0	0	0	0	26.20	26.16	26.21
4153	0.88	418.1	2864	1902	1498	1211	13.1	10.1	625	4161	0.08	2.17	0.00	0.000	2436	0.161	0.076	2876	3299	1353	1497	1210	0	0	0	0	0	0	26.22	26.29	26.32
4194	0.91	418.1	2876	3299	1498	1211	8.4	11.4	632	4202	0.00	2.12	0.00	0.000	1158	0.000	0.036	2885	1902	1354	1498	1210	0	0	0	0	0	0	26.37	26.34	26.40
4265	end climb: SURFACE_DEPTH_REACHED
state	4265	begin surface coast
4287	end surface coast: CONTROL_FINISHED_OK
state	4287	begin surface