Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 34 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 52 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 600 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 3050 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 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 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 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 3.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 54.0

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 0

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 0 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 600 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 200

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 0

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 225

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 3.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 54.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 3.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 3050 LOITER_D_TOP 0 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

DIVE 34 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 020921,121119,4750.8589,-12510.0322,21,1.2,32,15.7,0.1,0.0,9,3.6 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME INSHORE

_XMS_NAKs 0 TGT_LATLONG 4752.165,-12508.635

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.43 MHEAD_RNG_PITCHd_Wd 11.2,2963,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -59.3 D_GRID 225

GPS2 020921,121708,4750.8423,-12509.9756,4,0.8,6,15.7,0.6,76.3,12,7.6

Post-dive calculations and measurements:

FINISH -0.5,1.016059 _24V_AH 24.53,9.443

SM_CCo 4506,538.70,0.476,1,0,590,603.44 _10V_AH 10.29,5.580

SM_GC 0.47,7.57,0.28,538.70,0.054,0.045,0.476,166,2028,590,-7.41,-1.41,603.44,0,0,0,0,1,0,26.20,26.17,24.53 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4750.87,-12505.04,020921,103352 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.148302 MEM 211684

HUMID 51.92 DATA_FILE_SIZE 33578,677

INTERNAL_PRESSURE 8.74779 CAP_FILE_SIZE 86889,0

TCM_TEMP 15.20 CFSIZE 260030464,248156160

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 124530032640.000000 CURRENT 0.041,150.39,1

CP_POWER 328.180000 GPS 020921,134331,4751.188,-12509.598,4,1.0,28,15.7,0.6,187.8,9,2.1

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 229 99.79 SBE_CT 390 64 617.12

Roll_motor 27 97 66.31 WL_blue_red_Chl 1238 37 1138.06

VBD_pump_during_apogee 532 744 9729.65 nil 0 0 0.00

VBD_pump_during_surface 538 475 6287.77 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 4323 25 2651.08

Iridium_during_xfer 222 103 563.60 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.33

TT8 1448 12 182.16

LPSleep 970 2 21.88

TT8_Active 1071 12 134.76

TT8_Sampling 1683 37 652.87

TT8_CF8 264 42 116.88

TT8_Kalman 0 0 0.00

Analog_circuits 1983 11 224.50

GPS_charging 0 0 0.00

Compass 1506 8 127.73

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.79 -116.8 175 2008 750 426 0.0 0.0 0 132 0.00 0.00 -104.75 0.010 16386 0.000 0.000 175 2009 3007 2998 3016 0 0 0 0 0 0 26.08 28.83 26.14

135 -0.79 -116.8 175 2009 3000 3015 3.5 -6.3 15 159 8.25 1.12 -11.32 0.018 18980 0.216 0.068 2329 1293 3529 3529 3530 0 0 0 0 0 0 25.83 24.87 25.96

330 -0.79 -116.8 2328 1293 3536 3529 40.5 -16.6 51 338 0.00 1.08 0.00 0.000 1030 0.000 0.037 2325 1995 3532 3536 3528 0 0 0 0 0 0 26.32 26.29 26.34

466 -0.79 -116.8 2325 1996 3538 3528 61.7 -15.3 76 474 0.00 1.05 0.00 0.000 516 0.000 0.039 2329 1299 3533 3538 3528 0 0 0 0 0 0 26.44 26.36 26.49

507 -0.79 -116.8 2328 1299 3539 3528 68.0 -14.9 83 514 0.00 1.08 0.00 0.000 1030 0.000 0.097 2325 2006 3533 3538 3528 0 0 0 0 0 0 26.40 26.37 26.42

637 -0.79 -116.8 2325 2005 3540 3528 86.8 -16.2 108 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2005 3534 3540 3528 0 0 0 0 0 0 26.48 26.55 26.53

774 -0.79 -116.8 2325 2005 3541 3527 106.2 -13.7 130 778 0.00 1.05 0.00 0.000 516 0.000 0.039 2328 1303 3534 3541 3528 0 0 0 0 0 0 26.56 26.46 26.62

911 -0.79 -116.8 2327 1302 3541 3527 123.0 -13.0 156 916 0.00 1.05 0.00 0.000 1030 0.000 0.037 2325 1998 3534 3541 3527 0 0 0 0 0 0 26.52 26.51 26.51

1044 -0.79 -116.8 2325 1998 3541 3527 140.2 -12.6 170 1047 0.00 1.02 0.00 0.000 260 0.000 0.054 2321 2695 3534 3541 3527 0 0 0 0 0 0 26.61 26.51 26.66

1129 -0.79 -116.8 2319 2695 3541 3527 150.2 -10.7 187 1137 0.00 1.02 0.00 0.000 1030 0.000 0.031 2323 1973 3534 3541 3527 0 0 0 0 0 0 26.60 26.58 26.62

1259 -0.79 -116.8 2323 1969 3541 3526 164.0 -10.6 200 1264 0.00 0.95 0.00 0.000 516 0.000 0.041 2328 1320 3533 3541 3526 0 0 0 0 0 0 26.66 26.54 26.70

1323 -0.79 -116.8 2328 1321 3541 3526 171.6 -12.2 212 1327 0.00 1.02 0.00 0.000 1030 0.000 0.037 2325 2005 3533 3541 3526 0 0 0 0 0 0 26.60 26.58 26.62

1455 -0.79 -116.8 2324 2005 3541 3525 187.2 -12.3 226 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2005 3533 3541 3525 0 0 0 0 0 0 26.63 26.67 26.66

1577 -0.79 -116.8 2324 2005 3541 3525 202.2 -12.2 238 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2005 3533 3541 3525 0 0 0 0 0 0 26.65 26.73 26.71

1706 -0.79 -116.8 2324 2005 3541 3525 218.6 -12.8 251 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2005 3533 3541 3525 0 0 0 0 0 0 26.69 26.76 26.74

1754 end dive: TARGET_DEPTH_EXCEEDED

state 1754 begin apogee

1759 -0.18 0.0 2324 1788 3540 3525 225.0 -12.5 256 1938 0.65 0.00 174.68 0.587 10246 0.157 0.000 2523 1787 3049 3107 2992 0 0 0 0 0 0 26.33 25.23 24.79

1943 end apogee: CONTROL_FINISHED_OK

state 1943 begin climb

1945 0.79 116.8 2522 1787 3097 2981 231.8 0.0 274 2135 1.00 1.05 178.32 0.549 10756 0.122 0.037 2834 1136 2562 2660 2464 0 0 0 0 0 0 25.29 24.96 24.64

2266 0.83 149.3 2833 1136 2645 2450 221.3 8.1 334 2316 0.05 1.02 41.17 0.596 11302 0.178 0.040 2843 1797 2434 2552 2317 0 0 0 0 0 0 25.62 25.80 24.87

2437 0.83 149.3 2843 1797 2540 2310 202.6 12.3 356 2442 0.00 1.05 0.00 0.000 260 0.000 0.044 2840 2490 2424 2539 2310 0 0 0 0 0 0 25.91 25.86 25.94

2605 0.83 149.3 2839 2490 2534 2310 182.0 11.5 388 2609 0.00 0.98 0.00 0.000 1030 0.000 0.037 2843 1835 2421 2533 2309 0 0 0 0 0 0 26.17 26.14 26.18

2739 0.83 149.3 2842 1835 2534 2310 167.1 11.1 402 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1835 2422 2534 2310 0 0 0 0 0 0 26.29 26.36 26.36

2867 0.83 149.3 2842 1835 2533 2310 153.0 10.5 415 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1835 2421 2533 2310 0 0 0 0 0 0 26.32 26.41 26.39

2987 0.83 149.3 2842 1835 2533 2310 140.5 10.1 427 2991 0.00 1.00 0.00 0.000 260 0.000 0.045 2840 2494 2421 2533 2310 0 0 0 0 0 0 26.39 26.36 26.46

3042 0.84 163.9 2839 2494 2531 2310 135.5 9.2 437 3056 0.00 1.02 9.52 0.732 9254 0.000 0.039 2843 1802 2378 2495 2262 0 0 0 0 0 0 26.43 26.41 25.60

3185 0.86 173.4 2842 1802 2485 2254 122.1 9.5 453 3195 0.00 1.08 3.12 0.744 8740 0.000 0.044 2848 1106 2346 2467 2225 0 0 0 0 0 0 26.44 25.82 25.14

3295 0.86 173.4 2848 1106 2469 2226 111.2 10.2 473 3299 0.00 1.05 0.00 0.000 1030 0.000 0.037 2845 1799 2347 2468 2226 0 0 0 0 0 0 26.39 26.36 26.41

3422 0.87 184.7 2844 1799 2468 2226 98.8 9.3 487 3445 0.08 1.10 13.80 0.664 10788 0.230 0.050 2864 1106 2288 2411 2166 0 0 0 0 0 0 26.25 26.13 25.60

3488 0.87 184.7 2863 1106 2403 2163 92.4 10.1 498 3495 0.00 1.05 0.00 0.000 1030 0.000 0.036 2861 1799 2282 2402 2163 0 0 0 0 0 0 26.30 26.28 26.33

3624 0.87 184.7 2860 1799 2402 2162 77.2 11.2 523 3632 0.00 1.08 0.00 0.000 516 0.000 0.047 2864 1105 2282 2402 2162 0 0 0 0 0 0 26.44 26.32 26.49

3716 0.87 184.7 2863 1105 2402 2162 67.2 10.9 539 3723 0.00 1.05 0.00 0.000 1030 0.000 0.036 2861 1798 2282 2402 2162 0 0 0 0 0 0 26.42 26.41 26.46

3851 0.90 210.8 2860 1798 2401 2162 54.1 8.5 564 3889 0.00 1.10 33.65 0.568 8484 0.000 0.045 2855 2507 2188 2314 2063 0 0 0 0 0 0 26.53 25.98 25.47

4059 0.96 257.6 2854 2508 2294 2051 36.0 7.3 602 4133 0.08 1.05 66.82 0.529 11302 0.105 0.038 2887 1801 1997 2131 1863 0 0 0 0 0 0 26.14 26.26 25.14

4258 0.96 257.6 2887 1801 2113 1848 16.3 10.3 636 4266 0.00 1.10 0.00 0.000 516 0.000 0.047 2893 1099 1980 2112 1848 0 0 0 0 0 0 26.10 25.98 26.13

4442 1.02 313.6 2892 1099 2109 1847 2.6 6.8 670 4458 0.05 1.08 11.77 0.543 11298 0.134 0.036 2910 1800 1931 2065 1797 0 0 0 0 0 0 26.06 26.23 26.15

4459 end climb: SURFACE_DEPTH_REACHED

state 4459 begin surface coast

4486 end surface coast: CONTROL_FINISHED_OK

state 4486 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	34	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	52	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	600	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	3050	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	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	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	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	3.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	54.0
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	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	020921,121119,4750.8589,-12510.0322,21,1.2,32,15.7,0.1,0.0,9,3.6	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	INSHORE
_XMS_NAKs	0	TGT_LATLONG	4752.165,-12508.635
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.43	MHEAD_RNG_PITCHd_Wd	11.2,2963,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-59.3	D_GRID	225
GPS2	020921,121708,4750.8423,-12509.9756,4,0.8,6,15.7,0.6,76.3,12,7.6

FINISH	-0.5,1.016059	_24V_AH	24.53,9.443
SM_CCo	4506,538.70,0.476,1,0,590,603.44	_10V_AH	10.29,5.580
SM_GC	0.47,7.57,0.28,538.70,0.054,0.045,0.476,166,2028,590,-7.41,-1.41,603.44,0,0,0,0,1,0,26.20,26.17,24.53	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4750.87,-12505.04,020921,103352	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.148302	MEM	211684
HUMID	51.92	DATA_FILE_SIZE	33578,677
INTERNAL_PRESSURE	8.74779	CAP_FILE_SIZE	86889,0
TCM_TEMP	15.20	CFSIZE	260030464,248156160
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	124530032640.000000	CURRENT	0.041,150.39,1
CP_POWER	328.180000	GPS	020921,134331,4751.188,-12509.598,4,1.0,28,15.7,0.6,187.8,9,2.1
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	229	99.79	SBE_CT	390	64	617.12
Roll_motor	27	97	66.31	WL_blue_red_Chl	1238	37	1138.06
VBD_pump_during_apogee	532	744	9729.65	nil	0	0	0.00
VBD_pump_during_surface	538	475	6287.77	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	4323	25	2651.08
Iridium_during_xfer	222	103	563.60	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.33
TT8	1448	12	182.16
LPSleep	970	2	21.88
TT8_Active	1071	12	134.76
TT8_Sampling	1683	37	652.87
TT8_CF8	264	42	116.88
TT8_Kalman	0	0	0.00
Analog_circuits	1983	11	224.50
GPS_charging	0	0	0.00
Compass	1506	8	127.73
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.79	-116.8	175	2008	750	426	0.0	0.0	0	132	0.00	0.00	-104.75	0.010	16386	0.000	0.000	175	2009	3007	2998	3016	0	0	0	0	0	0	26.08	28.83	26.14
135	-0.79	-116.8	175	2009	3000	3015	3.5	-6.3	15	159	8.25	1.12	-11.32	0.018	18980	0.216	0.068	2329	1293	3529	3529	3530	0	0	0	0	0	0	25.83	24.87	25.96
330	-0.79	-116.8	2328	1293	3536	3529	40.5	-16.6	51	338	0.00	1.08	0.00	0.000	1030	0.000	0.037	2325	1995	3532	3536	3528	0	0	0	0	0	0	26.32	26.29	26.34
466	-0.79	-116.8	2325	1996	3538	3528	61.7	-15.3	76	474	0.00	1.05	0.00	0.000	516	0.000	0.039	2329	1299	3533	3538	3528	0	0	0	0	0	0	26.44	26.36	26.49
507	-0.79	-116.8	2328	1299	3539	3528	68.0	-14.9	83	514	0.00	1.08	0.00	0.000	1030	0.000	0.097	2325	2006	3533	3538	3528	0	0	0	0	0	0	26.40	26.37	26.42
637	-0.79	-116.8	2325	2005	3540	3528	86.8	-16.2	108	645	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2005	3534	3540	3528	0	0	0	0	0	0	26.48	26.55	26.53
774	-0.79	-116.8	2325	2005	3541	3527	106.2	-13.7	130	778	0.00	1.05	0.00	0.000	516	0.000	0.039	2328	1303	3534	3541	3528	0	0	0	0	0	0	26.56	26.46	26.62
911	-0.79	-116.8	2327	1302	3541	3527	123.0	-13.0	156	916	0.00	1.05	0.00	0.000	1030	0.000	0.037	2325	1998	3534	3541	3527	0	0	0	0	0	0	26.52	26.51	26.51
1044	-0.79	-116.8	2325	1998	3541	3527	140.2	-12.6	170	1047	0.00	1.02	0.00	0.000	260	0.000	0.054	2321	2695	3534	3541	3527	0	0	0	0	0	0	26.61	26.51	26.66
1129	-0.79	-116.8	2319	2695	3541	3527	150.2	-10.7	187	1137	0.00	1.02	0.00	0.000	1030	0.000	0.031	2323	1973	3534	3541	3527	0	0	0	0	0	0	26.60	26.58	26.62
1259	-0.79	-116.8	2323	1969	3541	3526	164.0	-10.6	200	1264	0.00	0.95	0.00	0.000	516	0.000	0.041	2328	1320	3533	3541	3526	0	0	0	0	0	0	26.66	26.54	26.70
1323	-0.79	-116.8	2328	1321	3541	3526	171.6	-12.2	212	1327	0.00	1.02	0.00	0.000	1030	0.000	0.037	2325	2005	3533	3541	3526	0	0	0	0	0	0	26.60	26.58	26.62
1455	-0.79	-116.8	2324	2005	3541	3525	187.2	-12.3	226	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2005	3533	3541	3525	0	0	0	0	0	0	26.63	26.67	26.66
1577	-0.79	-116.8	2324	2005	3541	3525	202.2	-12.2	238	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2005	3533	3541	3525	0	0	0	0	0	0	26.65	26.73	26.71
1706	-0.79	-116.8	2324	2005	3541	3525	218.6	-12.8	251	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2005	3533	3541	3525	0	0	0	0	0	0	26.69	26.76	26.74
1754	end dive: TARGET_DEPTH_EXCEEDED
state	1754	begin apogee
1759	-0.18	0.0	2324	1788	3540	3525	225.0	-12.5	256	1938	0.65	0.00	174.68	0.587	10246	0.157	0.000	2523	1787	3049	3107	2992	0	0	0	0	0	0	26.33	25.23	24.79
1943	end apogee: CONTROL_FINISHED_OK
state	1943	begin climb
1945	0.79	116.8	2522	1787	3097	2981	231.8	0.0	274	2135	1.00	1.05	178.32	0.549	10756	0.122	0.037	2834	1136	2562	2660	2464	0	0	0	0	0	0	25.29	24.96	24.64
2266	0.83	149.3	2833	1136	2645	2450	221.3	8.1	334	2316	0.05	1.02	41.17	0.596	11302	0.178	0.040	2843	1797	2434	2552	2317	0	0	0	0	0	0	25.62	25.80	24.87
2437	0.83	149.3	2843	1797	2540	2310	202.6	12.3	356	2442	0.00	1.05	0.00	0.000	260	0.000	0.044	2840	2490	2424	2539	2310	0	0	0	0	0	0	25.91	25.86	25.94
2605	0.83	149.3	2839	2490	2534	2310	182.0	11.5	388	2609	0.00	0.98	0.00	0.000	1030	0.000	0.037	2843	1835	2421	2533	2309	0	0	0	0	0	0	26.17	26.14	26.18
2739	0.83	149.3	2842	1835	2534	2310	167.1	11.1	402	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1835	2422	2534	2310	0	0	0	0	0	0	26.29	26.36	26.36
2867	0.83	149.3	2842	1835	2533	2310	153.0	10.5	415	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1835	2421	2533	2310	0	0	0	0	0	0	26.32	26.41	26.39
2987	0.83	149.3	2842	1835	2533	2310	140.5	10.1	427	2991	0.00	1.00	0.00	0.000	260	0.000	0.045	2840	2494	2421	2533	2310	0	0	0	0	0	0	26.39	26.36	26.46
3042	0.84	163.9	2839	2494	2531	2310	135.5	9.2	437	3056	0.00	1.02	9.52	0.732	9254	0.000	0.039	2843	1802	2378	2495	2262	0	0	0	0	0	0	26.43	26.41	25.60
3185	0.86	173.4	2842	1802	2485	2254	122.1	9.5	453	3195	0.00	1.08	3.12	0.744	8740	0.000	0.044	2848	1106	2346	2467	2225	0	0	0	0	0	0	26.44	25.82	25.14
3295	0.86	173.4	2848	1106	2469	2226	111.2	10.2	473	3299	0.00	1.05	0.00	0.000	1030	0.000	0.037	2845	1799	2347	2468	2226	0	0	0	0	0	0	26.39	26.36	26.41
3422	0.87	184.7	2844	1799	2468	2226	98.8	9.3	487	3445	0.08	1.10	13.80	0.664	10788	0.230	0.050	2864	1106	2288	2411	2166	0	0	0	0	0	0	26.25	26.13	25.60
3488	0.87	184.7	2863	1106	2403	2163	92.4	10.1	498	3495	0.00	1.05	0.00	0.000	1030	0.000	0.036	2861	1799	2282	2402	2163	0	0	0	0	0	0	26.30	26.28	26.33
3624	0.87	184.7	2860	1799	2402	2162	77.2	11.2	523	3632	0.00	1.08	0.00	0.000	516	0.000	0.047	2864	1105	2282	2402	2162	0	0	0	0	0	0	26.44	26.32	26.49
3716	0.87	184.7	2863	1105	2402	2162	67.2	10.9	539	3723	0.00	1.05	0.00	0.000	1030	0.000	0.036	2861	1798	2282	2402	2162	0	0	0	0	0	0	26.42	26.41	26.46
3851	0.90	210.8	2860	1798	2401	2162	54.1	8.5	564	3889	0.00	1.10	33.65	0.568	8484	0.000	0.045	2855	2507	2188	2314	2063	0	0	0	0	0	0	26.53	25.98	25.47
4059	0.96	257.6	2854	2508	2294	2051	36.0	7.3	602	4133	0.08	1.05	66.82	0.529	11302	0.105	0.038	2887	1801	1997	2131	1863	0	0	0	0	0	0	26.14	26.26	25.14
4258	0.96	257.6	2887	1801	2113	1848	16.3	10.3	636	4266	0.00	1.10	0.00	0.000	516	0.000	0.047	2893	1099	1980	2112	1848	0	0	0	0	0	0	26.10	25.98	26.13
4442	1.02	313.6	2892	1099	2109	1847	2.6	6.8	670	4458	0.05	1.08	11.77	0.543	11298	0.134	0.036	2910	1800	1931	2065	1797	0	0	0	0	0	0	26.06	26.23	26.15
4459	end climb: SURFACE_DEPTH_REACHED
state	4459	begin surface coast
4486	end surface coast: CONTROL_FINISHED_OK
state	4486	begin surface