Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 196 * 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 196 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 54 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 69 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 350 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 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

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 3 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 -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 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 284.0

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 20

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 20 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 350 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 115

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 235

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 3

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 284.0 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 0 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 120 R_PORT_OVSHOOT 54 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 69 XPDR_INHIBIT 90

DIVE 196 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 140921,080901,4751.1006,-12510.1748,30,0.8,36,15.7,0.2,222.3,12,2.5 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.57 MHEAD_RNG_PITCHd_Wd 75.8,285,-25.9,-10.145,-30.00,975

_SM_ANGLEo -62.7 D_GRID 264

GPS2 140921,081303,4751.0640,-12510.2080,4,0.6,6,15.7,0.2,0.0,12,7.5

Post-dive calculations and measurements:

FINISH -0.4,1.025701 _10V_AH 10.24,16.473

SM_CCo 5047,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.55,7.88,0.30,0.00,0.057,0.045,0.000,164,2009,550,-7.41,-1.24,551.92,0,0,0,0,0,0,25.98,25.96,25.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.11,-12503.20,140921,063814 MEM 209800

TT8_MAMPS 0.021721,0.146804 DATA_FILE_SIZE 40175,753

HUMID 53.62 CAP_FILE_SIZE 82119,0

INTERNAL_PRESSURE 8.74779 CFSIZE 260030464,236244992

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.059,276.56,1

ALTIM_BOTTOM_PING 222.7,29.6 GPS 140921,093847,4751.137,-12509.952,4,1.0,5,15.7,0.6,295.7,8,9.8

_24V_AH 24.25,30.421

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 203 89.93 SBE_CT 432 64 676.32

Roll_motor 28 45 31.49 WL_blue_red_Chl 1365 37 1240.11

VBD_pump_during_apogee 399 583 5651.93 nil 0 0 0.00

VBD_pump_during_surface 202 614 3010.24 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 0 0 0.00

Iridium_during_xfer 155 88 334.84 nil 0 0 0.00

Transponder_ping 2 420 20.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.26

TT8 1658 12 207.51

LPSleep 1064 2 23.87

TT8_Active 640 12 80.19

TT8_Sampling 1679 37 648.27

TT8_CF8 274 42 120.86

TT8_Kalman 0 0 0.00

Analog_circuits 1492 11 168.11

GPS_charging 0 0 0.00

Compass 1654 8 139.60

RAFOS 0 0 0.00

Transponder 16 30 5.19

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.00 -64.7 166 2022 692 410 0.0 0.0 0 114 0.00 0.00 -104.10 0.004 16390 0.000 0.000 166 2023 3064 3052 3076 0 0 0 0 0 0 26.32 24.65 26.38

117 -1.01 -74.3 166 2023 3054 3076 4.8 -9.1 14 133 8.00 0.00 -0.82 0.076 18726 0.203 0.000 2252 2023 3106 3103 3110 0 0 0 0 0 0 25.67 25.58 25.85

262 -1.01 -74.3 2252 2022 3111 3106 30.8 -15.8 40 269 0.00 1.08 0.00 0.000 516 0.000 0.033 2258 1301 3108 3112 3105 0 0 0 0 0 0 26.57 26.31 26.63

475 -1.01 -74.3 2257 1301 3114 3104 61.5 -13.1 81 483 0.00 1.02 0.00 0.000 1030 0.000 0.030 2254 1982 3109 3114 3104 0 0 0 0 0 0 26.46 26.44 26.51

611 -1.01 -74.3 2254 1983 3115 3103 79.0 -12.3 106 618 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 1983 3109 3115 3103 0 0 0 0 0 0 26.77 26.83 26.82

743 -1.01 -74.3 2255 1983 3116 3103 96.7 -13.7 131 751 0.00 1.05 0.00 0.000 260 0.000 0.035 2250 2705 3109 3116 3103 0 0 0 0 0 0 26.82 26.53 26.84

765 -1.01 -74.3 2248 2706 3116 3103 99.2 -12.0 134 772 0.00 1.02 0.00 0.000 1030 0.000 0.026 2253 1981 3109 3116 3103 0 0 0 0 0 0 26.61 26.59 26.64

891 -1.01 -74.3 2252 1981 3117 3103 112.3 -10.9 147 895 0.00 0.98 0.00 0.000 516 0.000 0.034 2257 1312 3110 3117 3103 0 0 0 0 0 0 26.86 26.58 26.91

1131 -1.02 -77.3 2257 1312 3118 3103 135.1 -9.8 193 1135 0.00 1.02 0.00 0.000 1062 0.000 0.028 2255 2004 3110 3117 3103 0 0 0 0 0 0 26.68 26.66 26.70

1265 -1.02 -77.3 2254 2004 3117 3102 148.2 -10.7 207 1269 0.00 1.00 0.00 0.000 516 0.000 0.031 2258 1322 3110 3118 3102 0 0 0 0 0 0 26.94 26.65 26.99

1506 -1.02 -77.3 2257 1322 3118 3102 172.7 -11.1 253 1510 0.00 1.00 0.00 0.000 1030 0.000 0.029 2255 1998 3110 3118 3102 0 0 0 0 0 0 26.74 26.72 26.77

1638 -1.02 -77.3 2254 1998 3118 3101 187.7 -11.2 267 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 1998 3109 3118 3101 0 0 0 0 0 0 27.00 27.05 27.05

1759 -1.02 -77.3 2254 1998 3118 3101 201.3 -11.5 279 1764 0.00 1.00 0.00 0.000 516 0.000 0.032 2258 1319 3109 3118 3101 0 0 0 0 0 0 26.99 26.72 27.04

1843 -1.02 -77.3 2257 1319 3118 3101 211.0 -11.6 295 1850 0.00 1.00 0.00 0.000 1030 0.000 0.028 2255 1998 3109 3118 3100 0 0 0 0 0 0 26.77 26.76 26.79

1979 -1.02 -77.3 2255 1998 3118 3100 226.0 -11.2 309 1982 0.00 1.00 0.00 0.000 516 0.000 0.033 2258 1317 3108 3117 3100 0 0 0 0 0 0 27.03 26.73 27.08

2034 end dive: BOTTOM_OBSTACLE_DETECTED

state 2034 begin apogee

2039 -0.18 0.0 2256 1821 3118 3100 232.8 -11.1 320 2159 0.93 0.00 114.45 0.584 10246 0.154 0.000 2526 1823 2795 2839 2751 0 0 0 0 0 0 26.15 25.53 25.01

2160 end apogee: CONTROL_FINISHED_OK

state 2160 begin climb

2163 1.02 77.3 2525 1823 2833 2742 236.1 0.0 332 2280 1.23 0.00 113.05 0.565 10758 0.115 0.000 2910 1823 2484 2574 2394 0 0 0 0 0 0 25.53 25.18 24.68

2399 1.02 79.8 2909 1823 2552 2360 218.9 9.9 364 2404 0.00 1.10 0.00 0.000 548 0.000 0.037 2916 1121 2456 2552 2361 0 0 0 0 0 0 26.11 25.86 26.15

2480 1.02 79.8 2915 1120 2551 2361 210.4 10.2 379 2488 0.00 1.02 0.00 0.000 1030 0.000 0.029 2913 1791 2455 2550 2360 0 0 0 0 0 0 26.08 26.06 26.11

2608 1.03 85.6 2912 1791 2548 2359 197.4 9.5 392 2613 0.00 1.02 0.00 0.000 548 0.000 0.038 2916 1123 2453 2547 2360 0 0 0 0 0 0 26.46 26.20 26.51

2654 1.03 85.6 2915 1123 2547 2360 192.8 10.4 400 2657 0.00 1.02 0.00 0.000 1030 0.000 0.030 2913 1797 2453 2547 2360 0 0 0 0 0 0 26.30 26.27 26.32

2788 1.03 85.6 2913 1797 2546 2360 179.2 10.3 414 2792 0.00 1.02 0.00 0.000 260 0.000 0.037 2908 2492 2453 2546 2360 0 0 0 0 0 0 26.62 26.34 26.67

2823 1.03 85.9 2907 2492 2544 2360 175.0 10.1 421 2831 0.00 0.98 0.00 0.000 1062 0.000 0.029 2911 1820 2452 2544 2360 0 0 0 0 0 0 26.42 26.39 26.44

2951 1.03 85.9 2910 1820 2544 2360 162.3 10.3 434 2956 0.00 1.00 0.00 0.000 260 0.000 0.038 2908 2491 2452 2544 2360 0 0 0 0 0 0 26.71 26.41 26.76

2995 1.03 85.9 2907 2491 2542 2360 157.5 11.1 442 2998 0.00 1.00 0.00 0.000 1030 0.000 0.031 2911 1808 2451 2543 2359 0 0 0 0 0 0 26.51 26.47 26.53

3127 1.03 85.9 2910 1808 2543 2360 142.6 11.5 456 3130 0.00 1.05 0.00 0.000 516 0.000 0.038 2916 1106 2451 2543 2360 0 0 0 0 0 0 26.78 26.48 26.83

3371 1.03 85.9 2916 1106 2543 2360 114.5 11.4 502 3375 0.00 1.05 0.00 0.000 1030 0.000 0.031 2913 1803 2451 2543 2360 0 0 0 0 0 0 26.62 26.60 26.65

3503 1.03 85.9 2913 1804 2542 2359 99.6 11.1 516 3511 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 1803 2450 2542 2359 0 0 0 0 0 0 26.89 26.96 26.94

3635 1.03 85.9 2913 1803 2541 2360 85.3 11.1 541 3642 0.00 1.05 0.00 0.000 516 0.000 0.040 2917 1111 2450 2541 2360 0 0 0 0 0 0 26.92 26.61 26.97

3862 1.05 105.3 2916 1111 2541 2359 67.0 8.1 584 3898 0.00 1.02 31.05 0.569 9254 0.000 0.030 2913 1798 2370 2475 2266 0 0 0 0 0 0 26.72 26.70 25.60

4022 1.07 125.3 2913 1798 2452 2238 52.9 8.0 613 4045 0.00 0.00 19.45 0.567 8230 0.000 0.000 2913 1798 2288 2405 2172 0 0 0 0 0 0 26.69 26.01 25.46

4174 1.09 141.0 2913 1798 2382 2146 40.7 8.5 640 4189 0.10 1.08 6.32 0.583 10532 0.158 0.038 2934 2507 2228 2350 2106 0 0 0 0 0 0 26.26 26.06 25.36

4287 1.12 164.7 2934 2507 2350 2106 31.3 7.6 660 4332 0.00 1.05 40.47 0.522 9254 0.000 0.032 2938 1795 2128 2258 1999 0 0 0 0 0 0 26.38 26.36 25.28

4457 1.12 164.7 2937 1795 2231 1969 15.8 10.7 690 4464 0.00 1.08 0.00 0.000 260 0.000 0.037 2935 2499 2100 2231 1969 0 0 0 0 0 0 26.44 26.16 26.47

4704 1.21 239.1 2934 2499 2226 1966 5.2 2.3 736 4783 0.10 1.02 74.50 0.482 11298 0.129 0.033 2973 1799 1916 2061 1772 0 0 0 0 0 0 26.11 26.40 26.21

4784 end climb: SURFACE_DEPTH_REACHED

state 4784 begin surface coast

4818 end surface coast: CONTROL_FINISHED_OK

state 4818 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	196	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	54	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	69	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	350	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	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
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	3	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	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	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	284.0
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	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	140921,080901,4751.1006,-12510.1748,30,0.8,36,15.7,0.2,222.3,12,2.5	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.57	MHEAD_RNG_PITCHd_Wd	75.8,285,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-62.7	D_GRID	264
GPS2	140921,081303,4751.0640,-12510.2080,4,0.6,6,15.7,0.2,0.0,12,7.5

FINISH	-0.4,1.025701	_10V_AH	10.24,16.473
SM_CCo	5047,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.55,7.88,0.30,0.00,0.057,0.045,0.000,164,2009,550,-7.41,-1.24,551.92,0,0,0,0,0,0,25.98,25.96,25.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.11,-12503.20,140921,063814	MEM	209800
TT8_MAMPS	0.021721,0.146804	DATA_FILE_SIZE	40175,753
HUMID	53.62	CAP_FILE_SIZE	82119,0
INTERNAL_PRESSURE	8.74779	CFSIZE	260030464,236244992
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.059,276.56,1
ALTIM_BOTTOM_PING	222.7,29.6	GPS	140921,093847,4751.137,-12509.952,4,1.0,5,15.7,0.6,295.7,8,9.8
_24V_AH	24.25,30.421

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	203	89.93	SBE_CT	432	64	676.32
Roll_motor	28	45	31.49	WL_blue_red_Chl	1365	37	1240.11
VBD_pump_during_apogee	399	583	5651.93	nil	0	0	0.00
VBD_pump_during_surface	202	614	3010.24	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	0	0	0.00
Iridium_during_xfer	155	88	334.84	nil	0	0	0.00
Transponder_ping	2	420	20.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.26
TT8	1658	12	207.51
LPSleep	1064	2	23.87
TT8_Active	640	12	80.19
TT8_Sampling	1679	37	648.27
TT8_CF8	274	42	120.86
TT8_Kalman	0	0	0.00
Analog_circuits	1492	11	168.11
GPS_charging	0	0	0.00
Compass	1654	8	139.60
RAFOS	0	0	0.00
Transponder	16	30	5.19

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.00	-64.7	166	2022	692	410	0.0	0.0	0	114	0.00	0.00	-104.10	0.004	16390	0.000	0.000	166	2023	3064	3052	3076	0	0	0	0	0	0	26.32	24.65	26.38
117	-1.01	-74.3	166	2023	3054	3076	4.8	-9.1	14	133	8.00	0.00	-0.82	0.076	18726	0.203	0.000	2252	2023	3106	3103	3110	0	0	0	0	0	0	25.67	25.58	25.85
262	-1.01	-74.3	2252	2022	3111	3106	30.8	-15.8	40	269	0.00	1.08	0.00	0.000	516	0.000	0.033	2258	1301	3108	3112	3105	0	0	0	0	0	0	26.57	26.31	26.63
475	-1.01	-74.3	2257	1301	3114	3104	61.5	-13.1	81	483	0.00	1.02	0.00	0.000	1030	0.000	0.030	2254	1982	3109	3114	3104	0	0	0	0	0	0	26.46	26.44	26.51
611	-1.01	-74.3	2254	1983	3115	3103	79.0	-12.3	106	618	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	1983	3109	3115	3103	0	0	0	0	0	0	26.77	26.83	26.82
743	-1.01	-74.3	2255	1983	3116	3103	96.7	-13.7	131	751	0.00	1.05	0.00	0.000	260	0.000	0.035	2250	2705	3109	3116	3103	0	0	0	0	0	0	26.82	26.53	26.84
765	-1.01	-74.3	2248	2706	3116	3103	99.2	-12.0	134	772	0.00	1.02	0.00	0.000	1030	0.000	0.026	2253	1981	3109	3116	3103	0	0	0	0	0	0	26.61	26.59	26.64
891	-1.01	-74.3	2252	1981	3117	3103	112.3	-10.9	147	895	0.00	0.98	0.00	0.000	516	0.000	0.034	2257	1312	3110	3117	3103	0	0	0	0	0	0	26.86	26.58	26.91
1131	-1.02	-77.3	2257	1312	3118	3103	135.1	-9.8	193	1135	0.00	1.02	0.00	0.000	1062	0.000	0.028	2255	2004	3110	3117	3103	0	0	0	0	0	0	26.68	26.66	26.70
1265	-1.02	-77.3	2254	2004	3117	3102	148.2	-10.7	207	1269	0.00	1.00	0.00	0.000	516	0.000	0.031	2258	1322	3110	3118	3102	0	0	0	0	0	0	26.94	26.65	26.99
1506	-1.02	-77.3	2257	1322	3118	3102	172.7	-11.1	253	1510	0.00	1.00	0.00	0.000	1030	0.000	0.029	2255	1998	3110	3118	3102	0	0	0	0	0	0	26.74	26.72	26.77
1638	-1.02	-77.3	2254	1998	3118	3101	187.7	-11.2	267	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	1998	3109	3118	3101	0	0	0	0	0	0	27.00	27.05	27.05
1759	-1.02	-77.3	2254	1998	3118	3101	201.3	-11.5	279	1764	0.00	1.00	0.00	0.000	516	0.000	0.032	2258	1319	3109	3118	3101	0	0	0	0	0	0	26.99	26.72	27.04
1843	-1.02	-77.3	2257	1319	3118	3101	211.0	-11.6	295	1850	0.00	1.00	0.00	0.000	1030	0.000	0.028	2255	1998	3109	3118	3100	0	0	0	0	0	0	26.77	26.76	26.79
1979	-1.02	-77.3	2255	1998	3118	3100	226.0	-11.2	309	1982	0.00	1.00	0.00	0.000	516	0.000	0.033	2258	1317	3108	3117	3100	0	0	0	0	0	0	27.03	26.73	27.08
2034	end dive: BOTTOM_OBSTACLE_DETECTED
state	2034	begin apogee
2039	-0.18	0.0	2256	1821	3118	3100	232.8	-11.1	320	2159	0.93	0.00	114.45	0.584	10246	0.154	0.000	2526	1823	2795	2839	2751	0	0	0	0	0	0	26.15	25.53	25.01
2160	end apogee: CONTROL_FINISHED_OK
state	2160	begin climb
2163	1.02	77.3	2525	1823	2833	2742	236.1	0.0	332	2280	1.23	0.00	113.05	0.565	10758	0.115	0.000	2910	1823	2484	2574	2394	0	0	0	0	0	0	25.53	25.18	24.68
2399	1.02	79.8	2909	1823	2552	2360	218.9	9.9	364	2404	0.00	1.10	0.00	0.000	548	0.000	0.037	2916	1121	2456	2552	2361	0	0	0	0	0	0	26.11	25.86	26.15
2480	1.02	79.8	2915	1120	2551	2361	210.4	10.2	379	2488	0.00	1.02	0.00	0.000	1030	0.000	0.029	2913	1791	2455	2550	2360	0	0	0	0	0	0	26.08	26.06	26.11
2608	1.03	85.6	2912	1791	2548	2359	197.4	9.5	392	2613	0.00	1.02	0.00	0.000	548	0.000	0.038	2916	1123	2453	2547	2360	0	0	0	0	0	0	26.46	26.20	26.51
2654	1.03	85.6	2915	1123	2547	2360	192.8	10.4	400	2657	0.00	1.02	0.00	0.000	1030	0.000	0.030	2913	1797	2453	2547	2360	0	0	0	0	0	0	26.30	26.27	26.32
2788	1.03	85.6	2913	1797	2546	2360	179.2	10.3	414	2792	0.00	1.02	0.00	0.000	260	0.000	0.037	2908	2492	2453	2546	2360	0	0	0	0	0	0	26.62	26.34	26.67
2823	1.03	85.9	2907	2492	2544	2360	175.0	10.1	421	2831	0.00	0.98	0.00	0.000	1062	0.000	0.029	2911	1820	2452	2544	2360	0	0	0	0	0	0	26.42	26.39	26.44
2951	1.03	85.9	2910	1820	2544	2360	162.3	10.3	434	2956	0.00	1.00	0.00	0.000	260	0.000	0.038	2908	2491	2452	2544	2360	0	0	0	0	0	0	26.71	26.41	26.76
2995	1.03	85.9	2907	2491	2542	2360	157.5	11.1	442	2998	0.00	1.00	0.00	0.000	1030	0.000	0.031	2911	1808	2451	2543	2359	0	0	0	0	0	0	26.51	26.47	26.53
3127	1.03	85.9	2910	1808	2543	2360	142.6	11.5	456	3130	0.00	1.05	0.00	0.000	516	0.000	0.038	2916	1106	2451	2543	2360	0	0	0	0	0	0	26.78	26.48	26.83
3371	1.03	85.9	2916	1106	2543	2360	114.5	11.4	502	3375	0.00	1.05	0.00	0.000	1030	0.000	0.031	2913	1803	2451	2543	2360	0	0	0	0	0	0	26.62	26.60	26.65
3503	1.03	85.9	2913	1804	2542	2359	99.6	11.1	516	3511	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	1803	2450	2542	2359	0	0	0	0	0	0	26.89	26.96	26.94
3635	1.03	85.9	2913	1803	2541	2360	85.3	11.1	541	3642	0.00	1.05	0.00	0.000	516	0.000	0.040	2917	1111	2450	2541	2360	0	0	0	0	0	0	26.92	26.61	26.97
3862	1.05	105.3	2916	1111	2541	2359	67.0	8.1	584	3898	0.00	1.02	31.05	0.569	9254	0.000	0.030	2913	1798	2370	2475	2266	0	0	0	0	0	0	26.72	26.70	25.60
4022	1.07	125.3	2913	1798	2452	2238	52.9	8.0	613	4045	0.00	0.00	19.45	0.567	8230	0.000	0.000	2913	1798	2288	2405	2172	0	0	0	0	0	0	26.69	26.01	25.46
4174	1.09	141.0	2913	1798	2382	2146	40.7	8.5	640	4189	0.10	1.08	6.32	0.583	10532	0.158	0.038	2934	2507	2228	2350	2106	0	0	0	0	0	0	26.26	26.06	25.36
4287	1.12	164.7	2934	2507	2350	2106	31.3	7.6	660	4332	0.00	1.05	40.47	0.522	9254	0.000	0.032	2938	1795	2128	2258	1999	0	0	0	0	0	0	26.38	26.36	25.28
4457	1.12	164.7	2937	1795	2231	1969	15.8	10.7	690	4464	0.00	1.08	0.00	0.000	260	0.000	0.037	2935	2499	2100	2231	1969	0	0	0	0	0	0	26.44	26.16	26.47
4704	1.21	239.1	2934	2499	2226	1966	5.2	2.3	736	4783	0.10	1.02	74.50	0.482	11298	0.129	0.033	2973	1799	1916	2061	1772	0	0	0	0	0	0	26.11	26.40	26.21
4784	end climb: SURFACE_DEPTH_REACHED
state	4784	begin surface coast
4818	end surface coast: CONTROL_FINISHED_OK
state	4818	begin surface