Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 75 * 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 75 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 47 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 149.0

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 149.0 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 47 XPDR_INHIBIT 90

DIVE 75 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 190921,214917,4757.5728,-12527.9336,9,0.9,13,15.7,0.9,113.3,9,8.9 SPEED_LIMITS 0.176,0.267

_CALLS 1 TGT_NAME X82_OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4756.700,-12527.830

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 169.9,1435,-18.6,-10.145,-23.53,1726

_SM_ANGLEo -62.6 D_GRID 290

GPS2 190921,220215,4757.4751,-12527.8203,4,0.7,6,15.7,0.6,113.8,12,10.0

Post-dive calculations and measurements:

FINISH -0.3,1.015914 CP_POWER1 0.000000

SM_CCo 5367,165.25,0.610,1,0,589,542.11 _24V_AH 24.38,9.859

SM_GC 0.68,7.55,0.28,165.25,0.053,0.055,0.610,174,1992,589,-7.38,-1.55,542.11,0,0,0,0,1,0,26.18,26.13,24.44 _10V_AH 10.19,4.644

IRIDIUM_FIX 4758.29,-12531.14,190921,202728 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.147553 FG_AHR_10Vo 0.000

HUMID 54.05 MEM 153944

INTERNAL_PRESSURE 8.74779 DATA_FILE_SIZE 40194,791

TCM_TEMP 15.40 CAP_FILE_SIZE 101269,0

XPDR_PINGS 0 CFSIZE 260030464,245153792

ALTIM_BOTTOM_PING 194.8,80.7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 90346815488.000000 CURRENT 0.089,191.41,1

CP_POWER 421.650000 GPS 190921,233632,4756.673,-12528.024,3,1.2,6,15.7,0.8,167.5,8,8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 276 120.69 SBE_CT 448 64 704.72

Roll_motor 40 118 115.85 WL_blue_red_Chl 1422 37 1298.74

VBD_pump_during_apogee 600 697 10221.82 nil 0 0 0.00

VBD_pump_during_surface 165 610 2459.46 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 5163 25 3146.85

Iridium_during_xfer 657 114 1839.43 nil 0 0 0.00

Transponder_ping 2 420 25.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.40

TT8 1714 12 213.54

LPSleep 1209 2 27.00

TT8_Active 796 12 99.22

TT8_Sampling 2257 37 866.87

TT8_CF8 388 42 170.05

TT8_Kalman 0 0 0.00

Analog_circuits 2224 11 249.39

GPS_charging 0 0 0.00

Compass 1742 8 146.35

RAFOS 0 0 0.00

Transponder 19 30 6.01

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 -0.80 -114.9 158 1994 744 427 0.0 0.0 0 132 0.00 0.00 -103.75 0.015 16386 0.000 0.000 159 1991 3090 3078 3103 0 0 0 0 0 0 26.13 28.83 26.20

134 -0.81 -118.5 158 1991 3079 3103 4.8 -9.9 15 152 8.32 1.12 -3.88 0.028 18724 0.223 0.071 2308 2711 3287 3286 3289 0 0 0 0 0 0 25.63 24.38 25.81

384 -0.81 -118.5 2307 2712 3296 3285 51.9 -12.1 62 392 0.05 1.05 0.00 0.000 3078 0.207 0.040 2320 1980 3290 3296 3285 0 0 0 0 0 0 26.06 26.36 26.13

517 -0.81 -118.5 2320 1980 3297 3284 68.7 -12.5 87 525 0.00 1.08 0.00 0.000 260 0.000 0.047 2316 2698 3291 3298 3284 0 0 0 0 0 0 26.53 26.22 26.58

574 -0.81 -118.5 2316 2698 3298 3284 75.5 -12.0 97 581 0.00 1.00 0.00 0.000 1030 0.000 0.040 2316 2002 3291 3298 3284 0 0 0 0 0 0 26.46 26.42 26.47

710 -0.81 -118.5 2316 2001 3299 3284 90.6 -10.5 122 718 0.00 1.02 0.00 0.000 516 0.000 0.041 2317 1312 3291 3300 3283 0 0 0 0 0 0 24.97 25.56 25.07

829 -0.81 -124.2 2316 1311 3299 3284 103.0 -9.8 144 835 0.00 1.05 0.00 0.000 1062 0.000 0.036 2313 2007 3292 3300 3284 0 0 0 0 0 0 26.47 26.46 26.49

963 -0.81 -124.2 2312 2007 3299 3283 117.5 -10.8 158 966 0.00 1.02 0.00 0.000 516 0.000 0.038 2316 1320 3291 3299 3284 0 0 0 0 0 0 26.55 26.46 26.62

1017 -0.81 -124.2 2316 1320 3299 3284 123.4 -10.3 168 1022 0.00 1.02 0.00 0.000 1030 0.000 0.035 2313 2002 3291 3299 3283 0 0 0 0 0 0 26.54 26.48 26.54

1149 -0.81 -124.2 2313 2002 3300 3283 137.1 -10.4 182 1153 0.00 1.02 0.00 0.000 260 0.000 0.050 2308 2698 3291 3300 3283 0 0 0 0 0 0 26.63 26.40 26.67

1173 -0.81 -124.2 2307 2698 3300 3283 139.9 -10.5 187 1182 0.00 1.00 0.00 0.000 1030 0.000 0.033 2311 1997 3291 3300 3283 0 0 0 0 0 0 26.29 26.44 25.91

1305 -0.81 -124.2 2310 1997 3300 3283 153.5 -10.9 200 1309 0.00 1.00 0.00 0.000 516 0.000 0.039 2316 1317 3291 3300 3283 0 0 0 0 0 0 26.59 26.49 26.65

1444 -0.81 -124.2 2315 1317 3300 3283 168.5 -10.5 227 1453 0.00 1.02 0.00 0.000 1030 0.000 0.042 2313 1999 3291 3300 3282 0 0 0 0 0 0 26.53 26.51 26.55

1572 -0.81 -124.2 2312 1999 3300 3282 181.8 -10.9 240 1577 0.00 1.02 0.00 0.000 260 0.000 0.043 2307 2698 3291 3300 3282 0 0 0 0 0 0 26.48 26.48 26.55

1702 -0.81 -124.2 2307 2699 3300 3282 197.4 -11.9 265 1710 0.00 1.00 0.00 0.000 1030 0.000 0.040 2311 1998 3290 3300 3281 0 0 0 0 0 0 26.58 26.56 26.61

1832 -0.81 -124.4 2310 1998 3300 3281 211.3 -10.1 278 1836 0.00 1.00 0.00 0.000 548 0.000 0.041 2316 1318 3290 3300 3281 0 0 0 0 0 0 26.48 26.49 26.54

1978 -0.81 -124.4 2315 1319 3300 3281 226.0 -11.6 306 1983 0.00 1.02 0.00 0.000 1030 0.000 0.044 2313 1999 3290 3300 3280 0 0 0 0 0 0 26.55 26.53 26.58

2111 -0.81 -124.4 2312 1999 3300 3279 241.2 -11.1 320 2116 0.00 1.02 0.00 0.000 516 0.000 0.037 2316 1312 3289 3300 3279 0 0 0 0 0 0 26.67 26.51 26.77

2144 -0.81 -124.4 2315 1311 3300 3279 244.8 -11.0 326 2148 0.00 1.02 0.00 0.000 1030 0.000 0.043 2313 1996 3289 3300 3279 0 0 0 0 0 0 26.55 26.53 26.58

2276 -0.81 -124.4 2312 1996 3299 3278 258.2 -10.3 340 2278 0.00 0.00 0.00 0.000 6 0.000 0.000 2313 1996 3289 3300 3278 0 0 0 0 0 0 26.68 26.76 26.74

2344 end dive: BOTTOM_OBSTACLE_DETECTED

state 2344 begin apogee

2349 -0.18 0.0 2313 1778 3300 3278 265.5 -10.4 347 2546 0.70 0.00 186.62 0.608 10246 0.153 0.000 2521 1778 2789 2843 2736 0 0 0 0 0 0 25.91 25.17 24.58

2551 end apogee: CONTROL_FINISHED_OK

state 2551 begin climb

2553 0.81 124.4 2520 1778 2837 2732 271.1 0.0 367 2756 1.02 0.00 194.62 0.571 10502 0.116 0.000 2837 1778 2284 2411 2158 0 0 0 0 0 0 25.31 24.79 24.44

2882 0.81 124.4 2837 1778 2392 2141 247.3 11.1 402 2886 0.00 1.10 0.00 0.000 260 0.000 0.041 2834 2487 2266 2392 2141 0 0 0 0 0 0 25.92 25.80 25.98

2934 0.81 124.4 2833 2487 2391 2139 241.5 10.9 412 2939 0.00 0.98 0.00 0.000 1030 0.000 0.043 2837 1833 2265 2391 2139 0 0 0 0 0 0 25.89 25.86 25.94

3069 0.81 124.4 2837 1833 2390 2139 227.6 10.4 426 3073 0.00 1.12 0.00 0.000 516 0.000 0.052 2843 1107 2264 2390 2139 0 0 0 0 0 0 26.27 26.06 26.34

3249 0.81 124.4 2842 1107 2388 2139 207.3 10.8 461 3256 0.00 1.05 0.00 0.000 1030 0.000 0.042 2839 1802 2263 2388 2139 0 0 0 0 0 0 26.32 26.29 26.35

3377 0.81 124.4 2839 1803 2387 2139 193.4 10.6 474 3380 0.00 1.05 0.00 0.000 260 0.000 0.119 2834 2492 2263 2387 2139 0 0 0 0 0 0 26.48 26.26 26.53

3440 0.81 124.7 2833 2492 2386 2138 187.2 10.1 486 3443 0.00 1.02 0.00 0.000 1062 0.000 0.036 2838 1795 2262 2386 2138 0 0 0 0 0 0 26.41 26.39 26.46

3572 0.82 131.5 2838 1794 2386 2138 174.3 9.7 500 3576 0.00 1.05 0.00 0.000 292 0.000 0.042 2834 2491 2261 2385 2138 0 0 0 0 0 0 26.51 26.37 26.56

3677 0.83 139.7 2833 2491 2383 2138 164.1 9.7 520 3698 0.00 1.02 12.70 0.684 9254 0.000 0.044 2837 1794 2225 2353 2098 0 0 0 0 0 0 26.42 26.38 25.34

3819 0.83 143.1 2837 1794 2349 2096 150.2 9.9 536 3824 0.00 1.05 0.00 0.000 548 0.000 0.053 2843 1102 2221 2348 2095 0 0 0 0 0 0 26.46 26.31 26.52

3924 0.84 145.2 2842 1102 2348 2096 139.5 10.0 556 3929 0.00 1.05 0.00 0.000 1062 0.000 0.036 2839 1799 2222 2348 2096 0 0 0 0 0 0 26.41 26.39 26.39

4059 0.85 154.2 2839 1800 2347 2095 126.9 9.6 570 4081 0.08 1.05 12.15 0.698 10532 0.276 0.043 2847 2490 2165 2296 2035 0 0 0 0 0 0 26.05 26.04 25.33

4197 0.85 154.2 2846 2490 2291 2031 111.3 11.7 596 4202 0.00 1.02 0.00 0.000 1030 0.000 0.040 2851 1794 2161 2290 2032 0 0 0 0 0 0 26.33 26.28 26.36

4326 0.85 154.2 2850 1794 2290 2032 95.6 12.5 613 4333 0.00 1.05 0.00 0.000 516 0.000 0.045 2856 1103 2161 2290 2032 0 0 0 0 0 0 26.49 26.34 26.55

4432 0.85 154.2 2855 1104 2289 2031 82.5 12.3 632 4440 0.00 1.05 0.00 0.000 1030 0.000 0.036 2852 1800 2160 2289 2032 0 0 0 0 0 0 26.44 26.41 26.49

4569 0.85 154.2 2852 1800 2288 2031 66.9 11.2 657 4576 0.00 1.02 0.00 0.000 260 0.000 0.049 2847 2493 2159 2287 2031 0 0 0 0 0 0 26.57 26.40 26.62

4621 0.85 154.2 2846 2493 2287 2032 60.8 11.4 666 4628 0.00 1.02 0.00 0.000 1030 0.000 0.044 2851 1797 2159 2287 2031 0 0 0 0 0 0 26.48 26.45 26.53

4758 0.93 223.8 2850 1796 2286 2032 49.1 6.0 691 4885 0.12 1.05 117.53 0.546 11044 0.143 0.047 2885 2491 1879 2021 1737 0 0 0 0 0 0 26.27 25.21 24.87

4992 0.98 262.4 2884 2492 2007 1729 32.3 7.8 729 5055 0.00 1.02 55.88 0.523 9254 0.000 0.037 2888 1810 1724 1871 1578 0 0 0 0 0 0 26.00 25.97 24.79

5181 1.00 281.8 2887 1810 1854 1564 13.7 9.0 762 5204 0.08 1.15 18.60 0.523 10788 0.163 0.044 2915 1092 1648 1793 1504 0 0 0 0 0 0 25.91 25.64 24.94

5312 1.01 292.4 2914 1092 1770 1490 2.6 9.5 785 5320 0.00 1.08 2.85 0.390 9254 0.000 0.034 2912 1801 1605 1746 1464 0 0 0 0 0 0 26.13 26.10 24.70

5326 end climb: SURFACE_DEPTH_REACHED

state 5326 begin surface coast

5347 end surface coast: CONTROL_FINISHED_OK

state 5348 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	75	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	47	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	149.0
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	190921,214917,4757.5728,-12527.9336,9,0.9,13,15.7,0.9,113.3,9,8.9	SPEED_LIMITS	0.176,0.267
_CALLS	1	TGT_NAME	X82_OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4756.700,-12527.830
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	169.9,1435,-18.6,-10.145,-23.53,1726
_SM_ANGLEo	-62.6	D_GRID	290
GPS2	190921,220215,4757.4751,-12527.8203,4,0.7,6,15.7,0.6,113.8,12,10.0

FINISH	-0.3,1.015914	CP_POWER1	0.000000
SM_CCo	5367,165.25,0.610,1,0,589,542.11	_24V_AH	24.38,9.859
SM_GC	0.68,7.55,0.28,165.25,0.053,0.055,0.610,174,1992,589,-7.38,-1.55,542.11,0,0,0,0,1,0,26.18,26.13,24.44	_10V_AH	10.19,4.644
IRIDIUM_FIX	4758.29,-12531.14,190921,202728	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.147553	FG_AHR_10Vo	0.000
HUMID	54.05	MEM	153944
INTERNAL_PRESSURE	8.74779	DATA_FILE_SIZE	40194,791
TCM_TEMP	15.40	CAP_FILE_SIZE	101269,0
XPDR_PINGS	0	CFSIZE	260030464,245153792
ALTIM_BOTTOM_PING	194.8,80.7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	90346815488.000000	CURRENT	0.089,191.41,1
CP_POWER	421.650000	GPS	190921,233632,4756.673,-12528.024,3,1.2,6,15.7,0.8,167.5,8,8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	276	120.69	SBE_CT	448	64	704.72
Roll_motor	40	118	115.85	WL_blue_red_Chl	1422	37	1298.74
VBD_pump_during_apogee	600	697	10221.82	nil	0	0	0.00
VBD_pump_during_surface	165	610	2459.46	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	5163	25	3146.85
Iridium_during_xfer	657	114	1839.43	nil	0	0	0.00
Transponder_ping	2	420	25.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.40
TT8	1714	12	213.54
LPSleep	1209	2	27.00
TT8_Active	796	12	99.22
TT8_Sampling	2257	37	866.87
TT8_CF8	388	42	170.05
TT8_Kalman	0	0	0.00
Analog_circuits	2224	11	249.39
GPS_charging	0	0	0.00
Compass	1742	8	146.35
RAFOS	0	0	0.00
Transponder	19	30	6.01

		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	-0.80	-114.9	158	1994	744	427	0.0	0.0	0	132	0.00	0.00	-103.75	0.015	16386	0.000	0.000	159	1991	3090	3078	3103	0	0	0	0	0	0	26.13	28.83	26.20
134	-0.81	-118.5	158	1991	3079	3103	4.8	-9.9	15	152	8.32	1.12	-3.88	0.028	18724	0.223	0.071	2308	2711	3287	3286	3289	0	0	0	0	0	0	25.63	24.38	25.81
384	-0.81	-118.5	2307	2712	3296	3285	51.9	-12.1	62	392	0.05	1.05	0.00	0.000	3078	0.207	0.040	2320	1980	3290	3296	3285	0	0	0	0	0	0	26.06	26.36	26.13
517	-0.81	-118.5	2320	1980	3297	3284	68.7	-12.5	87	525	0.00	1.08	0.00	0.000	260	0.000	0.047	2316	2698	3291	3298	3284	0	0	0	0	0	0	26.53	26.22	26.58
574	-0.81	-118.5	2316	2698	3298	3284	75.5	-12.0	97	581	0.00	1.00	0.00	0.000	1030	0.000	0.040	2316	2002	3291	3298	3284	0	0	0	0	0	0	26.46	26.42	26.47
710	-0.81	-118.5	2316	2001	3299	3284	90.6	-10.5	122	718	0.00	1.02	0.00	0.000	516	0.000	0.041	2317	1312	3291	3300	3283	0	0	0	0	0	0	24.97	25.56	25.07
829	-0.81	-124.2	2316	1311	3299	3284	103.0	-9.8	144	835	0.00	1.05	0.00	0.000	1062	0.000	0.036	2313	2007	3292	3300	3284	0	0	0	0	0	0	26.47	26.46	26.49
963	-0.81	-124.2	2312	2007	3299	3283	117.5	-10.8	158	966	0.00	1.02	0.00	0.000	516	0.000	0.038	2316	1320	3291	3299	3284	0	0	0	0	0	0	26.55	26.46	26.62
1017	-0.81	-124.2	2316	1320	3299	3284	123.4	-10.3	168	1022	0.00	1.02	0.00	0.000	1030	0.000	0.035	2313	2002	3291	3299	3283	0	0	0	0	0	0	26.54	26.48	26.54
1149	-0.81	-124.2	2313	2002	3300	3283	137.1	-10.4	182	1153	0.00	1.02	0.00	0.000	260	0.000	0.050	2308	2698	3291	3300	3283	0	0	0	0	0	0	26.63	26.40	26.67
1173	-0.81	-124.2	2307	2698	3300	3283	139.9	-10.5	187	1182	0.00	1.00	0.00	0.000	1030	0.000	0.033	2311	1997	3291	3300	3283	0	0	0	0	0	0	26.29	26.44	25.91
1305	-0.81	-124.2	2310	1997	3300	3283	153.5	-10.9	200	1309	0.00	1.00	0.00	0.000	516	0.000	0.039	2316	1317	3291	3300	3283	0	0	0	0	0	0	26.59	26.49	26.65
1444	-0.81	-124.2	2315	1317	3300	3283	168.5	-10.5	227	1453	0.00	1.02	0.00	0.000	1030	0.000	0.042	2313	1999	3291	3300	3282	0	0	0	0	0	0	26.53	26.51	26.55
1572	-0.81	-124.2	2312	1999	3300	3282	181.8	-10.9	240	1577	0.00	1.02	0.00	0.000	260	0.000	0.043	2307	2698	3291	3300	3282	0	0	0	0	0	0	26.48	26.48	26.55
1702	-0.81	-124.2	2307	2699	3300	3282	197.4	-11.9	265	1710	0.00	1.00	0.00	0.000	1030	0.000	0.040	2311	1998	3290	3300	3281	0	0	0	0	0	0	26.58	26.56	26.61
1832	-0.81	-124.4	2310	1998	3300	3281	211.3	-10.1	278	1836	0.00	1.00	0.00	0.000	548	0.000	0.041	2316	1318	3290	3300	3281	0	0	0	0	0	0	26.48	26.49	26.54
1978	-0.81	-124.4	2315	1319	3300	3281	226.0	-11.6	306	1983	0.00	1.02	0.00	0.000	1030	0.000	0.044	2313	1999	3290	3300	3280	0	0	0	0	0	0	26.55	26.53	26.58
2111	-0.81	-124.4	2312	1999	3300	3279	241.2	-11.1	320	2116	0.00	1.02	0.00	0.000	516	0.000	0.037	2316	1312	3289	3300	3279	0	0	0	0	0	0	26.67	26.51	26.77
2144	-0.81	-124.4	2315	1311	3300	3279	244.8	-11.0	326	2148	0.00	1.02	0.00	0.000	1030	0.000	0.043	2313	1996	3289	3300	3279	0	0	0	0	0	0	26.55	26.53	26.58
2276	-0.81	-124.4	2312	1996	3299	3278	258.2	-10.3	340	2278	0.00	0.00	0.00	0.000	6	0.000	0.000	2313	1996	3289	3300	3278	0	0	0	0	0	0	26.68	26.76	26.74
2344	end dive: BOTTOM_OBSTACLE_DETECTED
state	2344	begin apogee
2349	-0.18	0.0	2313	1778	3300	3278	265.5	-10.4	347	2546	0.70	0.00	186.62	0.608	10246	0.153	0.000	2521	1778	2789	2843	2736	0	0	0	0	0	0	25.91	25.17	24.58
2551	end apogee: CONTROL_FINISHED_OK
state	2551	begin climb
2553	0.81	124.4	2520	1778	2837	2732	271.1	0.0	367	2756	1.02	0.00	194.62	0.571	10502	0.116	0.000	2837	1778	2284	2411	2158	0	0	0	0	0	0	25.31	24.79	24.44
2882	0.81	124.4	2837	1778	2392	2141	247.3	11.1	402	2886	0.00	1.10	0.00	0.000	260	0.000	0.041	2834	2487	2266	2392	2141	0	0	0	0	0	0	25.92	25.80	25.98
2934	0.81	124.4	2833	2487	2391	2139	241.5	10.9	412	2939	0.00	0.98	0.00	0.000	1030	0.000	0.043	2837	1833	2265	2391	2139	0	0	0	0	0	0	25.89	25.86	25.94
3069	0.81	124.4	2837	1833	2390	2139	227.6	10.4	426	3073	0.00	1.12	0.00	0.000	516	0.000	0.052	2843	1107	2264	2390	2139	0	0	0	0	0	0	26.27	26.06	26.34
3249	0.81	124.4	2842	1107	2388	2139	207.3	10.8	461	3256	0.00	1.05	0.00	0.000	1030	0.000	0.042	2839	1802	2263	2388	2139	0	0	0	0	0	0	26.32	26.29	26.35
3377	0.81	124.4	2839	1803	2387	2139	193.4	10.6	474	3380	0.00	1.05	0.00	0.000	260	0.000	0.119	2834	2492	2263	2387	2139	0	0	0	0	0	0	26.48	26.26	26.53
3440	0.81	124.7	2833	2492	2386	2138	187.2	10.1	486	3443	0.00	1.02	0.00	0.000	1062	0.000	0.036	2838	1795	2262	2386	2138	0	0	0	0	0	0	26.41	26.39	26.46
3572	0.82	131.5	2838	1794	2386	2138	174.3	9.7	500	3576	0.00	1.05	0.00	0.000	292	0.000	0.042	2834	2491	2261	2385	2138	0	0	0	0	0	0	26.51	26.37	26.56
3677	0.83	139.7	2833	2491	2383	2138	164.1	9.7	520	3698	0.00	1.02	12.70	0.684	9254	0.000	0.044	2837	1794	2225	2353	2098	0	0	0	0	0	0	26.42	26.38	25.34
3819	0.83	143.1	2837	1794	2349	2096	150.2	9.9	536	3824	0.00	1.05	0.00	0.000	548	0.000	0.053	2843	1102	2221	2348	2095	0	0	0	0	0	0	26.46	26.31	26.52
3924	0.84	145.2	2842	1102	2348	2096	139.5	10.0	556	3929	0.00	1.05	0.00	0.000	1062	0.000	0.036	2839	1799	2222	2348	2096	0	0	0	0	0	0	26.41	26.39	26.39
4059	0.85	154.2	2839	1800	2347	2095	126.9	9.6	570	4081	0.08	1.05	12.15	0.698	10532	0.276	0.043	2847	2490	2165	2296	2035	0	0	0	0	0	0	26.05	26.04	25.33
4197	0.85	154.2	2846	2490	2291	2031	111.3	11.7	596	4202	0.00	1.02	0.00	0.000	1030	0.000	0.040	2851	1794	2161	2290	2032	0	0	0	0	0	0	26.33	26.28	26.36
4326	0.85	154.2	2850	1794	2290	2032	95.6	12.5	613	4333	0.00	1.05	0.00	0.000	516	0.000	0.045	2856	1103	2161	2290	2032	0	0	0	0	0	0	26.49	26.34	26.55
4432	0.85	154.2	2855	1104	2289	2031	82.5	12.3	632	4440	0.00	1.05	0.00	0.000	1030	0.000	0.036	2852	1800	2160	2289	2032	0	0	0	0	0	0	26.44	26.41	26.49
4569	0.85	154.2	2852	1800	2288	2031	66.9	11.2	657	4576	0.00	1.02	0.00	0.000	260	0.000	0.049	2847	2493	2159	2287	2031	0	0	0	0	0	0	26.57	26.40	26.62
4621	0.85	154.2	2846	2493	2287	2032	60.8	11.4	666	4628	0.00	1.02	0.00	0.000	1030	0.000	0.044	2851	1797	2159	2287	2031	0	0	0	0	0	0	26.48	26.45	26.53
4758	0.93	223.8	2850	1796	2286	2032	49.1	6.0	691	4885	0.12	1.05	117.53	0.546	11044	0.143	0.047	2885	2491	1879	2021	1737	0	0	0	0	0	0	26.27	25.21	24.87
4992	0.98	262.4	2884	2492	2007	1729	32.3	7.8	729	5055	0.00	1.02	55.88	0.523	9254	0.000	0.037	2888	1810	1724	1871	1578	0	0	0	0	0	0	26.00	25.97	24.79
5181	1.00	281.8	2887	1810	1854	1564	13.7	9.0	762	5204	0.08	1.15	18.60	0.523	10788	0.163	0.044	2915	1092	1648	1793	1504	0	0	0	0	0	0	25.91	25.64	24.94
5312	1.01	292.4	2914	1092	1770	1490	2.6	9.5	785	5320	0.00	1.08	2.85	0.390	9254	0.000	0.034	2912	1801	1605	1746	1464	0	0	0	0	0	0	26.13	26.10	24.70
5326	end climb: SURFACE_DEPTH_REACHED
state	5326	begin surface coast
5347	end surface coast: CONTROL_FINISHED_OK
state	5348	begin surface