Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 69 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 110

DIVE 69 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 47 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 70 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 5

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FLARE 3 SM_CC 541.92499 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 700 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 230 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 260 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -1 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 97.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 83.800003 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 160 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 -171.33574 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 137.0

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 10

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 83.800003 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 97.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 110 D_TGT 700 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 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 230

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 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 260

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.33574 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 137.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -1

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 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 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 0.5 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 160 R_PORT_OVSHOOT 47 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 70 XPDR_INHIBIT 90

DIVE 69 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 9 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 190921,133242,4757.1743,-12527.2852,2,0.8,4,15.7,0.7,153.1,11,6.5 SPEED_LIMITS 0.176,0.267

_CALLS 1 TGT_NAME HOLD

_XMS_NAKs 0 TGT_LATLONG 4757.460,-12527.830

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.57 MHEAD_RNG_PITCHd_Wd 328.6,873,-15.4,-10.145,-20.78,2331

_SM_ANGLEo -61.0 D_GRID 223

GPS2 190921,133831,4757.1226,-12527.3379,10,1.1,27,15.7,0.3,200.8,8,3.8

Post-dive calculations and measurements:

FINISH -0.3,1.025734 CP_POWER1 0.000000

SM_CCo 4576,131.90,0.631,1,0,589,542.11 _24V_AH 23.72,9.140

SM_GC 0.57,7.57,0.28,131.90,0.057,0.045,0.631,168,2014,589,-7.39,-1.44,542.11,0,0,0,0,1,0,25.95,25.91,24.37 _10V_AH 10.17,4.290

IRIDIUM_FIX 4755.54,-12529.27,190921,120727 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.149051 FG_AHR_10Vo 0.000

HUMID 53.74 MEM 153148

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 33487,644

TCM_TEMP 15.20 CAP_FILE_SIZE 82750,0

XPDR_PINGS 0 CFSIZE 260030464,245587968

ALTIM_BOTTOM_PING 216.4,78.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 94255906816.000000 CURRENT 0.120,234.51,1

CP_POWER 421.650000 GPS 190921,145859,4757.485,-12528.080,9,0.8,12,15.7,0.9,199.2,11,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 94.05 SBE_CT 392 64 600.19

Roll_motor 27 113 73.20 WL_blue_red_Chl 1252 37 1112.84

VBD_pump_during_apogee 670 875 13928.34 nil 0 0 0.00

VBD_pump_during_surface 131 631 1974.58 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 4322 25 2562.95

Iridium_during_xfer 205 102 499.01 nil 0 0 0.00

Transponder_ping 3 420 29.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 11 4.88

TT8 1413 12 175.70

LPSleep 965 2 21.51

TT8_Active 808 12 100.45

TT8_Sampling 1649 37 632.45

TT8_CF8 265 42 115.78

TT8_Kalman 0 0 0.00

Analog_circuits 1701 11 190.33

GPS_charging 0 0 0.00

Compass 1466 8 122.92

RAFOS 0 0 0.00

Transponder 22 30 6.72

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.74 -155.7 160 2030 720 451 0.0 0.0 0 134 0.00 0.00 -106.43 0.015 16386 0.000 0.000 161 2031 3063 3053 3074 0 0 0 0 0 0 26.18 28.83 26.25

137 -0.74 -155.7 160 2031 3053 3074 4.2 -8.1 15 161 8.43 1.15 -7.47 0.020 18980 0.223 0.073 2348 1296 3439 3434 3444 0 0 0 0 0 0 25.58 24.40 25.77

281 -0.74 -155.7 2347 1296 3440 3443 36.1 -14.0 41 289 0.00 1.05 0.00 0.000 1030 0.000 0.037 2344 1986 3441 3440 3442 0 0 0 0 0 0 26.32 26.29 26.36

414 -0.74 -155.7 2344 1987 3441 3442 53.8 -13.1 66 421 0.00 1.05 0.00 0.000 260 0.000 0.050 2339 2695 3441 3441 3442 0 0 0 0 0 0 26.48 26.31 26.53

519 -0.74 -155.7 2338 2696 3444 3442 67.3 -12.0 85 528 0.00 1.02 0.00 0.000 1030 0.000 0.036 2342 1978 3442 3443 3442 0 0 0 0 0 0 26.32 26.28 26.35

656 -0.74 -155.7 2342 1978 3445 3442 83.5 -11.7 110 664 0.00 0.98 0.00 0.000 516 0.000 0.043 2347 1320 3443 3444 3442 0 0 0 0 0 0 26.38 26.36 26.45

772 -0.74 -155.7 2347 1321 3445 3442 96.0 -9.9 131 779 0.00 1.02 0.00 0.000 1062 0.000 0.043 2344 2006 3443 3445 3442 0 0 0 0 0 0 26.41 26.36 26.44

904 -0.74 -155.7 2343 2006 3446 3441 110.1 -11.0 147 912 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2006 3443 3446 3441 0 0 0 0 0 0 26.44 26.48 26.51

1034 -0.74 -155.7 2344 2007 3446 3440 124.8 -10.9 160 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2007 3442 3445 3440 0 0 0 0 0 0 26.63 26.68 26.67

1154 -0.74 -155.7 2344 2007 3446 3440 137.4 -9.1 172 1158 0.00 1.02 0.00 0.000 548 0.000 0.045 2347 1322 3443 3446 3440 0 0 0 0 0 0 26.65 26.46 26.70

1298 -0.74 -155.7 2347 1322 3446 3439 152.7 -12.6 199 1307 0.00 1.00 0.00 0.000 1030 0.000 0.037 2344 1993 3442 3446 3439 0 0 0 0 0 0 26.51 26.47 26.53

1427 -0.74 -155.7 2344 1994 3446 3439 165.5 -10.1 212 1435 0.00 0.00 0.00 0.000 38 0.000 0.000 2344 1994 3443 3447 3439 0 0 0 0 0 0 26.57 26.63 26.62

1557 -0.74 -155.7 2343 1993 3447 3439 179.2 -8.9 225 1566 0.00 0.00 0.00 0.000 38 0.000 0.000 2344 1994 3443 3447 3439 0 0 0 0 0 0 26.60 26.68 26.69

1688 -0.74 -155.7 2343 1994 3447 3438 192.3 -10.1 238 1696 0.00 0.00 0.00 0.000 38 0.000 0.000 2344 1994 3442 3447 3438 0 0 0 0 0 0 26.67 26.73 26.72

1817 -0.74 -155.7 2344 1995 3447 3438 206.7 -12.6 251 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 1995 3442 3447 3438 0 0 0 0 0 0 26.62 26.72 26.67

1937 -0.74 -155.7 2343 1994 3447 3437 219.5 -10.5 263 1941 0.00 1.02 0.00 0.000 516 0.000 0.114 2347 1321 3442 3447 3437 0 0 0 0 0 0 26.61 25.25 26.63

1968 end dive: TARGET_DEPTH_EXCEEDED

state 1968 begin apogee

1973 -0.18 0.0 2346 1823 3447 3437 223.1 -11.1 269 2160 0.57 0.00 176.65 0.876 10246 0.146 0.000 2521 1825 2804 2870 2738 0 0 0 0 1 0 25.94 24.63 23.72

2165 end apogee: CONTROL_FINISHED_OK

state 2165 begin climb

2167 0.74 155.7 2520 1825 2871 2739 232.6 0.0 288 2421 1.00 0.00 242.57 0.542 11014 0.120 0.000 2819 1825 2156 2294 2018 0 0 0 0 0 0 24.84 24.62 24.27

2548 0.79 202.9 2818 1825 2275 2002 209.8 8.1 333 2629 0.00 1.05 70.85 0.574 8484 0.000 0.111 2816 2488 1961 2105 1818 0 0 0 0 0 0 25.83 25.19 24.56

2684 0.79 202.9 2815 2487 2085 1804 196.7 10.5 359 2688 0.05 1.02 0.00 0.000 3078 0.137 0.034 2834 1809 1944 2085 1804 0 0 0 0 0 0 25.53 25.73 25.60

2816 0.79 202.9 2834 1809 2081 1804 181.8 11.4 373 2818 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 1809 1942 2080 1804 0 0 0 0 0 0 26.08 26.18 26.16

2936 0.79 202.9 2834 1809 2078 1804 167.6 12.0 385 2941 0.00 1.05 0.00 0.000 260 0.000 0.049 2831 2494 1941 2079 1804 0 0 0 0 0 0 26.20 26.03 26.27

3000 0.79 202.9 2831 2494 2077 1804 160.1 11.4 397 3004 0.00 1.02 0.00 0.000 1030 0.000 0.036 2835 1802 1940 2077 1804 0 0 0 0 0 0 26.28 26.23 26.26

3132 0.79 202.9 2834 1802 2076 1804 144.3 11.1 411 3136 0.00 1.08 0.00 0.000 516 0.000 0.054 2840 1110 1940 2076 1804 0 0 0 0 0 0 26.37 26.20 26.44

3167 0.79 202.9 2840 1109 2076 1804 140.2 11.4 418 3174 0.00 1.05 0.00 0.000 1030 0.000 0.042 2837 1802 1939 2075 1804 0 0 0 0 0 0 26.35 26.32 26.36

3297 0.79 202.9 2836 1802 2075 1804 126.4 10.8 431 3301 0.00 1.05 0.00 0.000 260 0.000 0.051 2831 2500 1940 2075 1805 0 0 0 0 0 0 26.49 26.32 26.56

3323 0.79 202.9 2831 2500 2075 1804 123.4 10.4 436 3330 0.00 1.02 0.00 0.000 1030 0.000 0.044 2835 1806 1939 2075 1804 0 0 0 0 0 0 26.41 26.37 26.44

3449 0.79 202.9 2834 1805 2074 1804 110.8 10.6 449 3454 0.00 1.08 0.00 0.000 516 0.000 0.054 2840 1109 1939 2074 1804 0 0 0 0 0 0 26.52 26.30 26.53

3526 0.79 202.9 2839 1109 2074 1804 102.3 10.7 464 3533 0.00 1.05 0.00 0.000 1030 0.000 0.036 2837 1805 1939 2074 1804 0 0 0 0 0 0 26.38 26.37 26.38

3656 0.81 215.4 2836 1805 2073 1804 89.4 9.6 487 3663 0.00 1.02 0.00 0.000 292 0.000 0.044 2831 2496 1938 2073 1804 0 0 0 0 0 0 26.59 26.40 26.62

3782 0.81 215.4 2831 2495 2072 1804 75.4 10.9 510 3790 0.00 1.02 2.10 0.316 9222 0.000 0.041 2835 1799 1922 2057 1788 0 0 0 0 0 0 26.36 26.33 24.44

3917 0.81 215.4 2834 1799 2066 1795 60.8 10.7 535 3925 0.00 1.05 0.00 0.000 516 0.000 0.046 2840 1109 1930 2065 1795 0 0 0 0 0 0 26.44 26.41 26.50

3960 0.81 215.4 2839 1109 2065 1795 55.9 10.8 542 3967 0.00 1.05 0.00 0.000 1030 0.000 0.034 2837 1809 1930 2065 1795 0 0 0 0 0 0 26.48 26.48 26.53

4100 0.89 282.6 2836 1809 2065 1795 43.0 7.2 567 4234 0.12 1.08 122.88 0.532 10532 0.192 0.050 2866 2491 1634 1779 1489 0 0 0 0 0 0 26.15 25.39 24.81

4467 0.94 323.8 2865 2490 1754 1468 6.3 8.3 631 4527 0.00 1.02 55.33 0.511 9254 0.000 0.045 2869 1807 1481 1631 1331 0 0 0 0 0 0 26.19 26.13 24.94

4532 end climb: SURFACE_DEPTH_REACHED

state 4532 begin surface coast

4555 end surface coast: CONTROL_FINISHED_OK

state 4557 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	110
DIVE	69	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	47	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	70	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	5
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FLARE	3	SM_CC	541.92499	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	700	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	230	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	260	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-1	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	97.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	83.800003	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	160	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	-171.33574	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	137.0
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	10
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	190921,133242,4757.1743,-12527.2852,2,0.8,4,15.7,0.7,153.1,11,6.5	SPEED_LIMITS	0.176,0.267
_CALLS	1	TGT_NAME	HOLD
_XMS_NAKs	0	TGT_LATLONG	4757.460,-12527.830
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.57	MHEAD_RNG_PITCHd_Wd	328.6,873,-15.4,-10.145,-20.78,2331
_SM_ANGLEo	-61.0	D_GRID	223
GPS2	190921,133831,4757.1226,-12527.3379,10,1.1,27,15.7,0.3,200.8,8,3.8

FINISH	-0.3,1.025734	CP_POWER1	0.000000
SM_CCo	4576,131.90,0.631,1,0,589,542.11	_24V_AH	23.72,9.140
SM_GC	0.57,7.57,0.28,131.90,0.057,0.045,0.631,168,2014,589,-7.39,-1.44,542.11,0,0,0,0,1,0,25.95,25.91,24.37	_10V_AH	10.17,4.290
IRIDIUM_FIX	4755.54,-12529.27,190921,120727	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.149051	FG_AHR_10Vo	0.000
HUMID	53.74	MEM	153148
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	33487,644
TCM_TEMP	15.20	CAP_FILE_SIZE	82750,0
XPDR_PINGS	0	CFSIZE	260030464,245587968
ALTIM_BOTTOM_PING	216.4,78.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	94255906816.000000	CURRENT	0.120,234.51,1
CP_POWER	421.650000	GPS	190921,145859,4757.485,-12528.080,9,0.8,12,15.7,0.9,199.2,11,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	94.05	SBE_CT	392	64	600.19
Roll_motor	27	113	73.20	WL_blue_red_Chl	1252	37	1112.84
VBD_pump_during_apogee	670	875	13928.34	nil	0	0	0.00
VBD_pump_during_surface	131	631	1974.58	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	4322	25	2562.95
Iridium_during_xfer	205	102	499.01	nil	0	0	0.00
Transponder_ping	3	420	29.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	11	4.88
TT8	1413	12	175.70
LPSleep	965	2	21.51
TT8_Active	808	12	100.45
TT8_Sampling	1649	37	632.45
TT8_CF8	265	42	115.78
TT8_Kalman	0	0	0.00
Analog_circuits	1701	11	190.33
GPS_charging	0	0	0.00
Compass	1466	8	122.92
RAFOS	0	0	0.00
Transponder	22	30	6.72

		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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.74	-155.7	160	2030	720	451	0.0	0.0	0	134	0.00	0.00	-106.43	0.015	16386	0.000	0.000	161	2031	3063	3053	3074	0	0	0	0	0	0	26.18	28.83	26.25
137	-0.74	-155.7	160	2031	3053	3074	4.2	-8.1	15	161	8.43	1.15	-7.47	0.020	18980	0.223	0.073	2348	1296	3439	3434	3444	0	0	0	0	0	0	25.58	24.40	25.77
281	-0.74	-155.7	2347	1296	3440	3443	36.1	-14.0	41	289	0.00	1.05	0.00	0.000	1030	0.000	0.037	2344	1986	3441	3440	3442	0	0	0	0	0	0	26.32	26.29	26.36
414	-0.74	-155.7	2344	1987	3441	3442	53.8	-13.1	66	421	0.00	1.05	0.00	0.000	260	0.000	0.050	2339	2695	3441	3441	3442	0	0	0	0	0	0	26.48	26.31	26.53
519	-0.74	-155.7	2338	2696	3444	3442	67.3	-12.0	85	528	0.00	1.02	0.00	0.000	1030	0.000	0.036	2342	1978	3442	3443	3442	0	0	0	0	0	0	26.32	26.28	26.35
656	-0.74	-155.7	2342	1978	3445	3442	83.5	-11.7	110	664	0.00	0.98	0.00	0.000	516	0.000	0.043	2347	1320	3443	3444	3442	0	0	0	0	0	0	26.38	26.36	26.45
772	-0.74	-155.7	2347	1321	3445	3442	96.0	-9.9	131	779	0.00	1.02	0.00	0.000	1062	0.000	0.043	2344	2006	3443	3445	3442	0	0	0	0	0	0	26.41	26.36	26.44
904	-0.74	-155.7	2343	2006	3446	3441	110.1	-11.0	147	912	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2006	3443	3446	3441	0	0	0	0	0	0	26.44	26.48	26.51
1034	-0.74	-155.7	2344	2007	3446	3440	124.8	-10.9	160	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2007	3442	3445	3440	0	0	0	0	0	0	26.63	26.68	26.67
1154	-0.74	-155.7	2344	2007	3446	3440	137.4	-9.1	172	1158	0.00	1.02	0.00	0.000	548	0.000	0.045	2347	1322	3443	3446	3440	0	0	0	0	0	0	26.65	26.46	26.70
1298	-0.74	-155.7	2347	1322	3446	3439	152.7	-12.6	199	1307	0.00	1.00	0.00	0.000	1030	0.000	0.037	2344	1993	3442	3446	3439	0	0	0	0	0	0	26.51	26.47	26.53
1427	-0.74	-155.7	2344	1994	3446	3439	165.5	-10.1	212	1435	0.00	0.00	0.00	0.000	38	0.000	0.000	2344	1994	3443	3447	3439	0	0	0	0	0	0	26.57	26.63	26.62
1557	-0.74	-155.7	2343	1993	3447	3439	179.2	-8.9	225	1566	0.00	0.00	0.00	0.000	38	0.000	0.000	2344	1994	3443	3447	3439	0	0	0	0	0	0	26.60	26.68	26.69
1688	-0.74	-155.7	2343	1994	3447	3438	192.3	-10.1	238	1696	0.00	0.00	0.00	0.000	38	0.000	0.000	2344	1994	3442	3447	3438	0	0	0	0	0	0	26.67	26.73	26.72
1817	-0.74	-155.7	2344	1995	3447	3438	206.7	-12.6	251	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	1995	3442	3447	3438	0	0	0	0	0	0	26.62	26.72	26.67
1937	-0.74	-155.7	2343	1994	3447	3437	219.5	-10.5	263	1941	0.00	1.02	0.00	0.000	516	0.000	0.114	2347	1321	3442	3447	3437	0	0	0	0	0	0	26.61	25.25	26.63
1968	end dive: TARGET_DEPTH_EXCEEDED
state	1968	begin apogee
1973	-0.18	0.0	2346	1823	3447	3437	223.1	-11.1	269	2160	0.57	0.00	176.65	0.876	10246	0.146	0.000	2521	1825	2804	2870	2738	0	0	0	0	1	0	25.94	24.63	23.72
2165	end apogee: CONTROL_FINISHED_OK
state	2165	begin climb
2167	0.74	155.7	2520	1825	2871	2739	232.6	0.0	288	2421	1.00	0.00	242.57	0.542	11014	0.120	0.000	2819	1825	2156	2294	2018	0	0	0	0	0	0	24.84	24.62	24.27
2548	0.79	202.9	2818	1825	2275	2002	209.8	8.1	333	2629	0.00	1.05	70.85	0.574	8484	0.000	0.111	2816	2488	1961	2105	1818	0	0	0	0	0	0	25.83	25.19	24.56
2684	0.79	202.9	2815	2487	2085	1804	196.7	10.5	359	2688	0.05	1.02	0.00	0.000	3078	0.137	0.034	2834	1809	1944	2085	1804	0	0	0	0	0	0	25.53	25.73	25.60
2816	0.79	202.9	2834	1809	2081	1804	181.8	11.4	373	2818	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	1809	1942	2080	1804	0	0	0	0	0	0	26.08	26.18	26.16
2936	0.79	202.9	2834	1809	2078	1804	167.6	12.0	385	2941	0.00	1.05	0.00	0.000	260	0.000	0.049	2831	2494	1941	2079	1804	0	0	0	0	0	0	26.20	26.03	26.27
3000	0.79	202.9	2831	2494	2077	1804	160.1	11.4	397	3004	0.00	1.02	0.00	0.000	1030	0.000	0.036	2835	1802	1940	2077	1804	0	0	0	0	0	0	26.28	26.23	26.26
3132	0.79	202.9	2834	1802	2076	1804	144.3	11.1	411	3136	0.00	1.08	0.00	0.000	516	0.000	0.054	2840	1110	1940	2076	1804	0	0	0	0	0	0	26.37	26.20	26.44
3167	0.79	202.9	2840	1109	2076	1804	140.2	11.4	418	3174	0.00	1.05	0.00	0.000	1030	0.000	0.042	2837	1802	1939	2075	1804	0	0	0	0	0	0	26.35	26.32	26.36
3297	0.79	202.9	2836	1802	2075	1804	126.4	10.8	431	3301	0.00	1.05	0.00	0.000	260	0.000	0.051	2831	2500	1940	2075	1805	0	0	0	0	0	0	26.49	26.32	26.56
3323	0.79	202.9	2831	2500	2075	1804	123.4	10.4	436	3330	0.00	1.02	0.00	0.000	1030	0.000	0.044	2835	1806	1939	2075	1804	0	0	0	0	0	0	26.41	26.37	26.44
3449	0.79	202.9	2834	1805	2074	1804	110.8	10.6	449	3454	0.00	1.08	0.00	0.000	516	0.000	0.054	2840	1109	1939	2074	1804	0	0	0	0	0	0	26.52	26.30	26.53
3526	0.79	202.9	2839	1109	2074	1804	102.3	10.7	464	3533	0.00	1.05	0.00	0.000	1030	0.000	0.036	2837	1805	1939	2074	1804	0	0	0	0	0	0	26.38	26.37	26.38
3656	0.81	215.4	2836	1805	2073	1804	89.4	9.6	487	3663	0.00	1.02	0.00	0.000	292	0.000	0.044	2831	2496	1938	2073	1804	0	0	0	0	0	0	26.59	26.40	26.62
3782	0.81	215.4	2831	2495	2072	1804	75.4	10.9	510	3790	0.00	1.02	2.10	0.316	9222	0.000	0.041	2835	1799	1922	2057	1788	0	0	0	0	0	0	26.36	26.33	24.44
3917	0.81	215.4	2834	1799	2066	1795	60.8	10.7	535	3925	0.00	1.05	0.00	0.000	516	0.000	0.046	2840	1109	1930	2065	1795	0	0	0	0	0	0	26.44	26.41	26.50
3960	0.81	215.4	2839	1109	2065	1795	55.9	10.8	542	3967	0.00	1.05	0.00	0.000	1030	0.000	0.034	2837	1809	1930	2065	1795	0	0	0	0	0	0	26.48	26.48	26.53
4100	0.89	282.6	2836	1809	2065	1795	43.0	7.2	567	4234	0.12	1.08	122.88	0.532	10532	0.192	0.050	2866	2491	1634	1779	1489	0	0	0	0	0	0	26.15	25.39	24.81
4467	0.94	323.8	2865	2490	1754	1468	6.3	8.3	631	4527	0.00	1.02	55.33	0.511	9254	0.000	0.045	2869	1807	1481	1631	1331	0	0	0	0	0	0	26.19	26.13	24.94
4532	end climb: SURFACE_DEPTH_REACHED
state	4532	begin surface coast
4555	end surface coast: CONTROL_FINISHED_OK
state	4557	begin surface