Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 170

DIVE 57 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 60 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 200 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 70 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 115 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 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 1800 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 205 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 215 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 100.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 5

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 5 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 200 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 70

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 1800

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 115

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 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 100.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 215 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 205 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 1 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 60 XPDR_INHIBIT 90

DIVE 57 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 040921,122801,4750.1436,-12510.0645,6,1.2,24,15.7,1.0,106.6,8,1.8 SPEED_LIMITS 0.165,0.230

_CALLS 1 TGT_NAME INSHORE

_XMS_NAKs 0 TGT_LATLONG 4752.165,-12508.635

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.44 MHEAD_RNG_PITCHd_Wd 353.5,4201,-17.2,-9.524,-22.49,1865

_SM_ANGLEo -59.2 D_GRID 258

GPS2 040921,123415,4750.0894,-12509.9990,2,0.6,4,15.7,0.2,155.0,12,7.7

Post-dive calculations and measurements:

FINISH -0.4,1.025606 _24V_AH 23.85,12.946

SM_CCo 6072,-0.05,0.901,0,0,548,551.92 _10V_AH 10.27,7.311

SM_GC 0.36,7.65,0.28,-0.05,0.060,0.050,0.901,167,1995,548,-7.40,-1.44,551.92,0,0,0,0,0,0,25.89,25.82,25.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,040921,103551 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.148302 MEM 211620

HUMID 52.79 DATA_FILE_SIZE 40197,804

INTERNAL_PRESSURE 8.7185 CAP_FILE_SIZE 99486,0

TCM_TEMP 15.10 CFSIZE 260030464,246018048

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

CP_FREE 120390713344.000000 CURRENT 0.024,209.42,1

CP_POWER 328.190000 GPS 040921,141739,4750.362,-12509.944,10,1.2,29,15.7,0.8,180.2,10,2.2

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 272 117.08 SBE_CT 491 64 754.39

Roll_motor 24 95 56.45 WL_blue_red_Chl 1547 37 1382.11

VBD_pump_during_apogee 482 942 10837.84 nil 0 0 0.00

VBD_pump_during_surface 190 2957 13465.35 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 5879 25 3505.35

Iridium_during_xfer 241 107 617.83 nil 0 0 0.00

Transponder_ping 0 420 7.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.16

TT8 1794 12 225.20

LPSleep 1642 2 36.94

TT8_Active 721 12 90.55

TT8_Sampling 2015 37 780.20

TT8_CF8 309 42 136.52

TT8_Kalman 0 0 0.00

Analog_circuits 1721 11 194.46

GPS_charging 0 0 0.00

Compass 1835 8 155.37

RAFOS 0 0 0.00

Transponder 6 30 1.88

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 23 begin dive

25 -0.75 -116.8 176 2014 684 411 0.0 0.0 0 134 0.00 0.00 -106.22 0.011 16386 0.000 0.000 176 2015 3025 3013 3037 0 0 0 0 0 0 26.09 28.83 26.15

137 -0.75 -116.8 176 2015 3014 3037 3.5 -5.8 15 160 8.43 1.00 -5.35 0.031 18724 0.221 0.067 2333 2690 3277 3280 3274 0 0 0 0 0 0 25.75 25.53 25.91

357 -0.75 -116.8 2332 2690 3288 3270 43.3 -12.2 56 364 0.00 1.02 0.00 0.000 1030 0.000 0.033 2336 1981 3279 3288 3270 0 0 0 0 0 0 26.36 26.32 26.39

495 -0.75 -116.8 2336 1981 3290 3269 60.8 -13.3 81 503 0.00 0.98 0.00 0.000 516 0.000 0.041 2342 1322 3279 3290 3269 0 0 0 0 0 0 26.50 26.39 26.53

668 -0.75 -116.8 2341 1322 3291 3269 82.1 -11.6 113 676 0.00 1.00 0.00 0.000 1030 0.000 0.037 2338 1990 3280 3291 3269 0 0 0 0 0 0 26.48 26.46 26.51

805 -0.75 -116.8 2338 1990 3292 3268 97.5 -10.6 138 812 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 1989 3280 3292 3268 0 0 0 0 0 0 26.54 26.61 26.60

940 -0.75 -116.8 2337 1989 3292 3268 111.6 -9.9 153 945 0.00 1.00 0.00 0.000 516 0.000 0.039 2342 1322 3280 3292 3268 0 0 0 0 0 0 26.62 26.52 26.67

1148 -0.75 -116.8 2341 1322 3292 3268 131.1 -8.9 193 1152 0.00 1.00 0.00 0.000 1062 0.000 0.037 2338 1995 3279 3292 3267 0 0 0 0 0 0 26.60 26.56 26.62

1282 -0.75 -116.8 2338 1995 3292 3267 143.6 -9.7 207 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 1995 3279 3292 3267 0 0 0 0 0 0 26.61 26.70 26.67

1410 -0.75 -116.8 2337 1995 3293 3266 156.3 -10.2 220 1414 0.00 1.00 0.00 0.000 516 0.000 0.040 2341 1323 3279 3292 3266 0 0 0 0 0 0 26.63 26.58 26.69

1466 -0.75 -116.8 2341 1322 3292 3266 162.4 -10.3 231 1474 0.00 1.00 0.00 0.000 1030 0.000 0.036 2338 1998 3279 3292 3266 0 0 0 0 0 0 26.63 26.60 26.66

1595 -0.75 -116.8 2338 1998 3292 3266 174.5 -9.6 244 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 1998 3279 3293 3266 0 0 0 0 0 0 26.67 26.72 26.71

1725 -0.75 -116.8 2338 1998 3292 3265 186.2 -8.9 257 1733 0.00 0.00 0.00 0.000 38 0.000 0.000 2338 1998 3279 3293 3265 0 0 0 0 0 0 26.71 26.79 26.77

1855 -0.75 -116.8 2337 1998 3292 3263 197.8 -9.0 270 1859 0.00 1.02 0.00 0.000 548 0.000 0.090 2342 1314 3277 3292 3263 0 0 0 0 0 0 26.74 26.56 26.79

1879 end dive: TARGET_DEPTH_EXCEEDED

state 1879 begin apogee

1884 -0.18 0.0 2340 1809 3292 3263 200.4 -9.1 275 2013 0.62 0.00 118.15 0.942 10246 0.272 0.000 2521 1810 2802 2862 2742 0 0 0 0 1 0 26.32 24.96 24.20

2017 end apogee: CONTROL_FINISHED_OK

state 2018 begin loiter

2142 -0.16 14.6 2520 1811 2867 2749 207.0 -1.9 300 2172 0.00 0.00 27.50 0.613 8230 0.000 0.000 2521 1811 2739 2798 2680 0 0 0 0 0 0 25.86 25.48 25.03

2292 -0.16 14.6 2521 1811 2778 2661 207.8 0.6 315 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 1811 2719 2778 2661 0 0 0 0 0 0 26.03 26.09 26.08

2412 -0.16 14.6 2521 1811 2775 2661 206.4 1.4 327 2414 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 1811 2718 2775 2661 0 0 0 0 0 0 26.19 26.25 26.27

2532 -0.17 3.2 2520 1811 2775 2660 204.6 1.5 339 2534 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2717 2774 2661 0 0 0 0 0 0 26.31 26.37 26.36

2652 -0.19 -10.8 2521 1811 2774 2661 202.5 1.8 351 2654 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2717 2774 2661 0 0 0 0 0 0 26.38 26.46 26.44

2772 -0.21 -25.4 2520 1811 2774 2661 200.3 1.9 363 2774 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2717 2774 2660 0 0 0 0 0 0 26.44 26.51 26.51

2893 -0.23 -39.1 2520 1811 2773 2660 198.3 1.8 375 2895 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2716 2773 2660 0 0 0 0 0 0 26.45 26.52 26.52

3015 -0.24 -54.9 2520 1811 2773 2660 196.0 2.0 387 3021 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2716 2773 2660 0 0 0 0 0 0 26.55 26.62 26.61

3143 -0.26 -70.5 2520 1811 2772 2660 193.4 2.0 400 3145 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2716 2772 2660 0 0 0 0 0 0 26.56 26.65 26.65

3263 -0.28 -86.0 2520 1811 2772 2659 191.0 2.0 412 3265 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2715 2772 2659 0 0 0 0 0 0 26.60 26.69 26.68

3383 -0.30 -100.6 2520 1811 2771 2659 188.9 1.9 424 3385 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2715 2772 2659 0 0 0 0 0 0 26.64 26.70 26.70

3503 -0.32 -117.4 2520 1811 2771 2659 186.5 2.2 436 3505 0.00 0.00 0.00 0.000 38 0.000 0.000 2521 1811 2715 2771 2659 0 0 0 0 0 0 26.67 26.74 26.72

3623 -0.34 -133.5 2521 1811 2771 2659 184.0 2.1 448 3625 0.00 0.00 0.00 0.000 38 0.000 0.000 2520 1811 2715 2771 2659 0 0 0 0 0 0 26.68 26.67 26.69

3743 -0.36 -149.1 2520 1812 2771 2659 181.5 2.0 460 3746 0.10 0.00 0.00 0.000 4134 0.166 0.000 2493 1811 2715 2771 2659 0 0 0 0 0 0 26.47 26.64 26.60

3812 end loiter: LOITER_COMPLETE

state 3812 begin climb

3814 0.75 116.8 2493 1811 2770 2658 180.1 0.0 467 3978 1.00 1.12 156.07 0.559 10756 0.118 0.044 2824 1117 2322 2443 2202 0 0 0 0 0 0 26.46 25.33 24.89

4172 0.75 116.9 2824 1117 2415 2184 152.1 9.5 535 4176 0.00 1.05 0.00 0.000 1062 0.000 0.043 2821 1799 2299 2415 2184 0 0 0 0 0 0 26.08 26.05 26.10

4304 0.75 116.9 2821 1798 2414 2181 139.5 9.6 549 4308 0.00 1.05 0.00 0.000 260 0.000 0.048 2816 2495 2297 2414 2181 0 0 0 0 0 0 26.20 26.16 26.20

4390 0.77 126.1 2816 2495 2413 2179 131.6 9.0 565 4394 0.00 1.00 0.00 0.000 1062 0.000 0.037 2819 1814 2296 2413 2179 0 0 0 0 0 0 26.29 26.27 26.32

4524 0.79 145.2 2819 1814 2413 2179 120.2 8.5 579 4563 0.08 1.08 31.88 0.575 10532 0.182 0.044 2832 2495 2201 2327 2075 0 0 0 0 0 0 26.20 25.92 25.39

4587 0.79 146.1 2832 2495 2315 2060 114.4 9.5 590 4591 0.00 1.02 0.00 0.000 1062 0.000 0.037 2836 1811 2187 2314 2060 0 0 0 0 0 0 26.08 26.06 26.13

4719 0.81 162.7 2835 1811 2311 2058 102.5 8.6 604 4740 0.00 1.10 15.45 0.617 8740 0.000 0.045 2841 1110 2133 2264 2002 0 0 0 0 0 0 26.30 25.94 25.42

4861 0.81 162.7 2840 1110 2244 1990 89.3 9.9 630 4869 0.00 1.05 0.00 0.000 1030 0.000 0.037 2837 1799 2117 2244 1990 0 0 0 0 0 0 26.20 26.15 26.21

4999 0.83 177.7 2837 1799 2243 1988 76.6 8.7 655 5014 0.00 1.08 9.35 0.631 8484 0.000 0.044 2832 2494 2073 2206 1941 0 0 0 0 0 0 26.38 26.03 25.52

5089 0.83 177.7 2832 2494 2196 1931 68.3 9.7 671 5096 0.00 1.02 0.00 0.000 1030 0.000 0.041 2836 1805 2063 2196 1931 0 0 0 0 0 0 26.30 26.27 26.31

5227 0.83 177.7 2835 1804 2194 1929 55.1 9.6 696 5235 0.00 1.02 0.00 0.000 260 0.000 0.043 2832 2487 2062 2194 1930 0 0 0 0 0 0 26.43 26.33 26.48

5290 0.86 202.1 2832 2487 2193 1929 49.3 8.2 707 5334 0.05 1.02 35.20 0.535 11302 0.167 0.037 2853 1790 1970 2109 1832 0 0 0 0 0 0 26.16 26.34 25.44

5460 0.86 202.1 2852 1789 2088 1814 33.3 10.3 737 5468 0.00 1.05 0.00 0.000 516 0.000 0.047 2858 1114 1951 2088 1815 0 0 0 0 0 0 26.20 26.17 26.26

5593 0.86 202.1 2857 1114 2086 1814 19.1 10.5 761 5601 0.00 1.05 0.00 0.000 1030 0.000 0.096 2855 1803 1950 2086 1814 0 0 0 0 0 0 26.32 26.25 26.32

5730 0.93 259.9 2854 1803 2085 1813 7.8 6.3 786 5822 0.10 0.00 88.55 0.489 11042 0.180 0.000 2879 1805 1752 1897 1607 0 0 0 0 0 0 26.20 28.83 26.35

5823 end climb: SURFACE_DEPTH_REACHED

state 5823 begin surface coast

5850 end surface coast: CONTROL_FINISHED_OK

state 5850 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	170
DIVE	57	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	60	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	200	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	70	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	115	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	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	1800	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	205	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	215	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	100.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	5
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	040921,122801,4750.1436,-12510.0645,6,1.2,24,15.7,1.0,106.6,8,1.8	SPEED_LIMITS	0.165,0.230
_CALLS	1	TGT_NAME	INSHORE
_XMS_NAKs	0	TGT_LATLONG	4752.165,-12508.635
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.44	MHEAD_RNG_PITCHd_Wd	353.5,4201,-17.2,-9.524,-22.49,1865
_SM_ANGLEo	-59.2	D_GRID	258
GPS2	040921,123415,4750.0894,-12509.9990,2,0.6,4,15.7,0.2,155.0,12,7.7

FINISH	-0.4,1.025606	_24V_AH	23.85,12.946
SM_CCo	6072,-0.05,0.901,0,0,548,551.92	_10V_AH	10.27,7.311
SM_GC	0.36,7.65,0.28,-0.05,0.060,0.050,0.901,167,1995,548,-7.40,-1.44,551.92,0,0,0,0,0,0,25.89,25.82,25.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,040921,103551	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.148302	MEM	211620
HUMID	52.79	DATA_FILE_SIZE	40197,804
INTERNAL_PRESSURE	8.7185	CAP_FILE_SIZE	99486,0
TCM_TEMP	15.10	CFSIZE	260030464,246018048
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	120390713344.000000	CURRENT	0.024,209.42,1
CP_POWER	328.190000	GPS	040921,141739,4750.362,-12509.944,10,1.2,29,15.7,0.8,180.2,10,2.2
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	272	117.08	SBE_CT	491	64	754.39
Roll_motor	24	95	56.45	WL_blue_red_Chl	1547	37	1382.11
VBD_pump_during_apogee	482	942	10837.84	nil	0	0	0.00
VBD_pump_during_surface	190	2957	13465.35	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	5879	25	3505.35
Iridium_during_xfer	241	107	617.83	nil	0	0	0.00
Transponder_ping	0	420	7.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.16
TT8	1794	12	225.20
LPSleep	1642	2	36.94
TT8_Active	721	12	90.55
TT8_Sampling	2015	37	780.20
TT8_CF8	309	42	136.52
TT8_Kalman	0	0	0.00
Analog_circuits	1721	11	194.46
GPS_charging	0	0	0.00
Compass	1835	8	155.37
RAFOS	0	0	0.00
Transponder	6	30	1.88

		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	23	begin dive
25	-0.75	-116.8	176	2014	684	411	0.0	0.0	0	134	0.00	0.00	-106.22	0.011	16386	0.000	0.000	176	2015	3025	3013	3037	0	0	0	0	0	0	26.09	28.83	26.15
137	-0.75	-116.8	176	2015	3014	3037	3.5	-5.8	15	160	8.43	1.00	-5.35	0.031	18724	0.221	0.067	2333	2690	3277	3280	3274	0	0	0	0	0	0	25.75	25.53	25.91
357	-0.75	-116.8	2332	2690	3288	3270	43.3	-12.2	56	364	0.00	1.02	0.00	0.000	1030	0.000	0.033	2336	1981	3279	3288	3270	0	0	0	0	0	0	26.36	26.32	26.39
495	-0.75	-116.8	2336	1981	3290	3269	60.8	-13.3	81	503	0.00	0.98	0.00	0.000	516	0.000	0.041	2342	1322	3279	3290	3269	0	0	0	0	0	0	26.50	26.39	26.53
668	-0.75	-116.8	2341	1322	3291	3269	82.1	-11.6	113	676	0.00	1.00	0.00	0.000	1030	0.000	0.037	2338	1990	3280	3291	3269	0	0	0	0	0	0	26.48	26.46	26.51
805	-0.75	-116.8	2338	1990	3292	3268	97.5	-10.6	138	812	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	1989	3280	3292	3268	0	0	0	0	0	0	26.54	26.61	26.60
940	-0.75	-116.8	2337	1989	3292	3268	111.6	-9.9	153	945	0.00	1.00	0.00	0.000	516	0.000	0.039	2342	1322	3280	3292	3268	0	0	0	0	0	0	26.62	26.52	26.67
1148	-0.75	-116.8	2341	1322	3292	3268	131.1	-8.9	193	1152	0.00	1.00	0.00	0.000	1062	0.000	0.037	2338	1995	3279	3292	3267	0	0	0	0	0	0	26.60	26.56	26.62
1282	-0.75	-116.8	2338	1995	3292	3267	143.6	-9.7	207	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2338	1995	3279	3292	3267	0	0	0	0	0	0	26.61	26.70	26.67
1410	-0.75	-116.8	2337	1995	3293	3266	156.3	-10.2	220	1414	0.00	1.00	0.00	0.000	516	0.000	0.040	2341	1323	3279	3292	3266	0	0	0	0	0	0	26.63	26.58	26.69
1466	-0.75	-116.8	2341	1322	3292	3266	162.4	-10.3	231	1474	0.00	1.00	0.00	0.000	1030	0.000	0.036	2338	1998	3279	3292	3266	0	0	0	0	0	0	26.63	26.60	26.66
1595	-0.75	-116.8	2338	1998	3292	3266	174.5	-9.6	244	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	2338	1998	3279	3293	3266	0	0	0	0	0	0	26.67	26.72	26.71
1725	-0.75	-116.8	2338	1998	3292	3265	186.2	-8.9	257	1733	0.00	0.00	0.00	0.000	38	0.000	0.000	2338	1998	3279	3293	3265	0	0	0	0	0	0	26.71	26.79	26.77
1855	-0.75	-116.8	2337	1998	3292	3263	197.8	-9.0	270	1859	0.00	1.02	0.00	0.000	548	0.000	0.090	2342	1314	3277	3292	3263	0	0	0	0	0	0	26.74	26.56	26.79
1879	end dive: TARGET_DEPTH_EXCEEDED
state	1879	begin apogee
1884	-0.18	0.0	2340	1809	3292	3263	200.4	-9.1	275	2013	0.62	0.00	118.15	0.942	10246	0.272	0.000	2521	1810	2802	2862	2742	0	0	0	0	1	0	26.32	24.96	24.20
2017	end apogee: CONTROL_FINISHED_OK
state	2018	begin loiter
2142	-0.16	14.6	2520	1811	2867	2749	207.0	-1.9	300	2172	0.00	0.00	27.50	0.613	8230	0.000	0.000	2521	1811	2739	2798	2680	0	0	0	0	0	0	25.86	25.48	25.03
2292	-0.16	14.6	2521	1811	2778	2661	207.8	0.6	315	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	1811	2719	2778	2661	0	0	0	0	0	0	26.03	26.09	26.08
2412	-0.16	14.6	2521	1811	2775	2661	206.4	1.4	327	2414	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	1811	2718	2775	2661	0	0	0	0	0	0	26.19	26.25	26.27
2532	-0.17	3.2	2520	1811	2775	2660	204.6	1.5	339	2534	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2717	2774	2661	0	0	0	0	0	0	26.31	26.37	26.36
2652	-0.19	-10.8	2521	1811	2774	2661	202.5	1.8	351	2654	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2717	2774	2661	0	0	0	0	0	0	26.38	26.46	26.44
2772	-0.21	-25.4	2520	1811	2774	2661	200.3	1.9	363	2774	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2717	2774	2660	0	0	0	0	0	0	26.44	26.51	26.51
2893	-0.23	-39.1	2520	1811	2773	2660	198.3	1.8	375	2895	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2716	2773	2660	0	0	0	0	0	0	26.45	26.52	26.52
3015	-0.24	-54.9	2520	1811	2773	2660	196.0	2.0	387	3021	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2716	2773	2660	0	0	0	0	0	0	26.55	26.62	26.61
3143	-0.26	-70.5	2520	1811	2772	2660	193.4	2.0	400	3145	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2716	2772	2660	0	0	0	0	0	0	26.56	26.65	26.65
3263	-0.28	-86.0	2520	1811	2772	2659	191.0	2.0	412	3265	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2715	2772	2659	0	0	0	0	0	0	26.60	26.69	26.68
3383	-0.30	-100.6	2520	1811	2771	2659	188.9	1.9	424	3385	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2715	2772	2659	0	0	0	0	0	0	26.64	26.70	26.70
3503	-0.32	-117.4	2520	1811	2771	2659	186.5	2.2	436	3505	0.00	0.00	0.00	0.000	38	0.000	0.000	2521	1811	2715	2771	2659	0	0	0	0	0	0	26.67	26.74	26.72
3623	-0.34	-133.5	2521	1811	2771	2659	184.0	2.1	448	3625	0.00	0.00	0.00	0.000	38	0.000	0.000	2520	1811	2715	2771	2659	0	0	0	0	0	0	26.68	26.67	26.69
3743	-0.36	-149.1	2520	1812	2771	2659	181.5	2.0	460	3746	0.10	0.00	0.00	0.000	4134	0.166	0.000	2493	1811	2715	2771	2659	0	0	0	0	0	0	26.47	26.64	26.60
3812	end loiter: LOITER_COMPLETE
state	3812	begin climb
3814	0.75	116.8	2493	1811	2770	2658	180.1	0.0	467	3978	1.00	1.12	156.07	0.559	10756	0.118	0.044	2824	1117	2322	2443	2202	0	0	0	0	0	0	26.46	25.33	24.89
4172	0.75	116.9	2824	1117	2415	2184	152.1	9.5	535	4176	0.00	1.05	0.00	0.000	1062	0.000	0.043	2821	1799	2299	2415	2184	0	0	0	0	0	0	26.08	26.05	26.10
4304	0.75	116.9	2821	1798	2414	2181	139.5	9.6	549	4308	0.00	1.05	0.00	0.000	260	0.000	0.048	2816	2495	2297	2414	2181	0	0	0	0	0	0	26.20	26.16	26.20
4390	0.77	126.1	2816	2495	2413	2179	131.6	9.0	565	4394	0.00	1.00	0.00	0.000	1062	0.000	0.037	2819	1814	2296	2413	2179	0	0	0	0	0	0	26.29	26.27	26.32
4524	0.79	145.2	2819	1814	2413	2179	120.2	8.5	579	4563	0.08	1.08	31.88	0.575	10532	0.182	0.044	2832	2495	2201	2327	2075	0	0	0	0	0	0	26.20	25.92	25.39
4587	0.79	146.1	2832	2495	2315	2060	114.4	9.5	590	4591	0.00	1.02	0.00	0.000	1062	0.000	0.037	2836	1811	2187	2314	2060	0	0	0	0	0	0	26.08	26.06	26.13
4719	0.81	162.7	2835	1811	2311	2058	102.5	8.6	604	4740	0.00	1.10	15.45	0.617	8740	0.000	0.045	2841	1110	2133	2264	2002	0	0	0	0	0	0	26.30	25.94	25.42
4861	0.81	162.7	2840	1110	2244	1990	89.3	9.9	630	4869	0.00	1.05	0.00	0.000	1030	0.000	0.037	2837	1799	2117	2244	1990	0	0	0	0	0	0	26.20	26.15	26.21
4999	0.83	177.7	2837	1799	2243	1988	76.6	8.7	655	5014	0.00	1.08	9.35	0.631	8484	0.000	0.044	2832	2494	2073	2206	1941	0	0	0	0	0	0	26.38	26.03	25.52
5089	0.83	177.7	2832	2494	2196	1931	68.3	9.7	671	5096	0.00	1.02	0.00	0.000	1030	0.000	0.041	2836	1805	2063	2196	1931	0	0	0	0	0	0	26.30	26.27	26.31
5227	0.83	177.7	2835	1804	2194	1929	55.1	9.6	696	5235	0.00	1.02	0.00	0.000	260	0.000	0.043	2832	2487	2062	2194	1930	0	0	0	0	0	0	26.43	26.33	26.48
5290	0.86	202.1	2832	2487	2193	1929	49.3	8.2	707	5334	0.05	1.02	35.20	0.535	11302	0.167	0.037	2853	1790	1970	2109	1832	0	0	0	0	0	0	26.16	26.34	25.44
5460	0.86	202.1	2852	1789	2088	1814	33.3	10.3	737	5468	0.00	1.05	0.00	0.000	516	0.000	0.047	2858	1114	1951	2088	1815	0	0	0	0	0	0	26.20	26.17	26.26
5593	0.86	202.1	2857	1114	2086	1814	19.1	10.5	761	5601	0.00	1.05	0.00	0.000	1030	0.000	0.096	2855	1803	1950	2086	1814	0	0	0	0	0	0	26.32	26.25	26.32
5730	0.93	259.9	2854	1803	2085	1813	7.8	6.3	786	5822	0.10	0.00	88.55	0.489	11042	0.180	0.000	2879	1805	1752	1897	1607	0	0	0	0	0	0	26.20	28.83	26.35
5823	end climb: SURFACE_DEPTH_REACHED
state	5823	begin surface coast
5850	end surface coast: CONTROL_FINISHED_OK
state	5850	begin surface