Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 44 * 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 44 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 40 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 48 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 74.0

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 74.0 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 40 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

DIVE 44 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 030921,093731,4750.5659,-12510.4102,4,1.2,6,15.7,0.3,41.5,8,7.8 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 0.48 MHEAD_RNG_PITCHd_Wd 12.0,3647,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -61.2 D_GRID 248

GPS2 030921,094347,4750.5840,-12510.3848,3,0.9,5,15.7,0.5,314.9,11,9.8

Post-dive calculations and measurements:

FINISH -0.5,1.012440 _24V_AH 24.56,10.966

SM_CCo 4849,154.55,0.601,1,0,589,603.44 _10V_AH 10.27,6.331

SM_GC 0.46,7.72,0.30,154.55,0.057,0.045,0.601,175,2022,589,-7.39,-1.27,603.44,0,0,0,0,1,0,25.89,25.86,24.56 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.10,-12521.07,030921,074953 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.147553 MEM 211616

HUMID 52.55 DATA_FILE_SIZE 36829,699

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 82318,0

TCM_TEMP 15.30 CFSIZE 260030464,247209984

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

CP_FREE 122657669120.000000 CURRENT 0.057,162.04,1

CP_POWER 328.190000 GPS 030921,110931,4750.922,-12510.008,31,1.1,32,15.7,0.3,18.5,8,5.8

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 224 100.12 SBE_CT 407 64 644.64

Roll_motor 23 78 45.48 WL_blue_red_Chl 1298 37 1194.32

VBD_pump_during_apogee 677 841 13996.37 nil 0 0 0.00

VBD_pump_during_surface 154 600 2279.44 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 4673 25 2869.22

Iridium_during_xfer 243 108 650.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.13

TT8 1456 12 182.81

LPSleep 1125 2 25.31

TT8_Active 807 12 101.31

TT8_Sampling 1762 37 682.06

TT8_CF8 268 42 118.46

TT8_Kalman 0 0 0.00

Analog_circuits 1778 11 200.96

GPS_charging 0 0 0.00

Compass 1565 8 132.51

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.79 -116.8 168 1997 747 426 0.0 0.0 0 133 0.00 0.00 -104.85 0.011 16386 0.000 0.000 169 1999 3061 3051 3071 0 0 0 0 0 0 25.99 28.83 26.08

136 -0.79 -116.8 168 1998 3053 3071 3.9 -7.5 15 160 8.38 1.12 -9.40 0.021 18980 0.218 0.071 2328 1281 3530 3529 3532 0 0 0 0 0 0 25.77 24.84 25.90

325 -0.79 -116.8 2328 1281 3536 3530 38.5 -13.8 50 332 0.00 1.10 0.00 0.000 1030 0.000 0.047 2325 2000 3533 3536 3530 0 0 0 0 0 0 26.30 26.27 26.32

460 -0.79 -116.8 2325 2000 3539 3530 59.3 -15.4 75 468 0.00 1.02 0.00 0.000 260 0.000 0.045 2320 2690 3534 3538 3530 0 0 0 0 0 0 26.39 26.34 26.46

552 -0.79 -116.8 2319 2691 3540 3530 72.3 -13.5 91 559 0.00 1.02 0.00 0.000 1030 0.000 0.031 2323 1974 3534 3539 3530 0 0 0 0 0 0 26.44 26.39 26.45

683 -0.79 -116.8 2322 1972 3541 3530 90.7 -13.3 116 691 0.00 1.10 0.00 0.000 260 0.000 0.043 2320 2705 3535 3541 3530 0 0 0 0 0 0 26.51 26.41 26.56

826 -0.79 -116.8 2319 2705 3541 3530 109.9 -13.1 143 835 0.00 1.00 0.00 0.000 1030 0.000 0.032 2323 2004 3535 3541 3530 0 0 0 0 0 0 26.50 26.49 26.53

954 -0.79 -116.8 2322 2003 3542 3530 126.3 -13.1 156 958 0.00 1.00 0.00 0.000 516 0.000 0.040 2323 1323 3535 3541 3530 0 0 0 0 0 0 26.59 26.49 26.65

1058 -0.79 -116.8 2323 1323 3541 3529 140.1 -13.6 176 1063 0.00 1.02 0.00 0.000 1030 0.000 0.038 2320 2007 3536 3542 3530 0 0 0 0 0 0 26.51 26.48 26.51

1191 -0.79 -116.8 2319 2007 3542 3529 157.2 -12.9 190 1193 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2007 3535 3542 3529 0 0 0 0 0 0 26.64 26.70 26.69

1311 -0.79 -116.8 2319 2007 3542 3529 172.4 -12.9 202 1314 0.00 1.02 0.00 0.000 260 0.000 0.045 2314 2703 3535 3542 3529 0 0 0 0 0 0 26.65 26.55 26.71

1355 -0.79 -116.8 2314 2703 3542 3529 177.5 -12.2 210 1359 0.00 1.00 0.00 0.000 1030 0.000 0.031 2317 2001 3535 3542 3529 0 0 0 0 0 0 26.62 26.60 26.65

1487 -0.79 -116.8 2317 2000 3542 3528 195.0 -12.5 224 1491 0.00 1.00 0.00 0.000 516 0.000 0.040 2323 1319 3535 3542 3528 0 0 0 0 0 0 26.67 26.58 26.72

1591 -0.79 -116.8 2322 1319 3542 3528 208.5 -12.8 244 1596 0.00 1.02 0.00 0.000 1030 0.000 0.037 2320 2003 3534 3542 3527 0 0 0 0 0 0 26.62 26.60 26.65

1724 -0.79 -116.8 2318 2003 3542 3526 224.3 -11.5 258 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2003 3534 3542 3526 0 0 0 0 0 0 26.70 26.76 26.75

1846 -0.79 -116.8 2319 2003 3542 3526 238.3 -11.7 270 1853 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2003 3533 3541 3526 0 0 0 0 0 0 26.69 26.77 26.77

1932 end dive: TARGET_DEPTH_EXCEEDED

state 1932 begin apogee

1937 -0.18 0.0 2319 1773 3542 3526 249.0 -11.3 279 2124 0.68 0.00 180.48 0.586 10246 0.160 0.000 2522 1773 3044 3102 2986 0 0 0 0 0 0 26.34 25.24 24.79

2129 end apogee: CONTROL_FINISHED_OK

state 2129 begin climb

2131 0.79 116.8 2521 1772 3096 2981 254.1 0.0 298 2315 1.02 1.05 174.60 0.551 10756 0.121 0.041 2840 1138 2569 2666 2472 0 0 0 0 0 0 25.31 25.10 24.63

2468 0.79 116.8 2839 1138 2649 2456 232.5 11.8 361 2475 0.00 1.02 0.00 0.000 1030 0.000 0.035 2837 1799 2552 2648 2456 0 0 0 0 0 0 25.86 25.84 25.89

2595 0.79 116.8 2836 1798 2646 2456 218.2 11.1 374 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1798 2551 2646 2456 0 0 0 0 0 0 26.10 26.17 26.17

2715 0.79 116.8 2836 1798 2644 2455 205.8 10.1 386 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1797 2550 2644 2456 0 0 0 0 0 0 26.23 26.31 26.29

2838 0.79 122.0 2837 1798 2643 2455 193.7 9.7 398 2845 0.00 0.00 0.00 0.000 38 0.000 0.000 2837 1798 2549 2643 2455 0 0 0 0 0 0 26.34 26.41 26.40

2966 0.82 144.0 2836 1798 2642 2455 182.0 8.7 411 3005 0.00 0.00 33.72 0.604 8230 0.000 0.000 2836 1798 2457 2568 2347 0 0 0 0 0 0 26.43 25.67 25.35

3128 0.82 148.0 2836 1798 2559 2342 166.9 9.8 427 3135 0.00 0.00 0.00 0.000 38 0.000 0.000 2837 1798 2450 2559 2342 0 0 0 0 0 0 26.23 26.33 26.29

3256 0.86 175.3 2836 1798 2557 2342 155.0 8.4 440 3307 0.10 0.00 46.97 0.588 10278 0.225 0.000 2856 1799 2332 2453 2211 0 0 0 0 0 0 26.03 25.61 25.17

3426 0.86 175.3 2857 1800 2441 2205 138.0 10.2 457 3431 0.00 1.02 0.00 0.000 516 0.000 0.047 2862 1140 2323 2441 2205 0 0 0 0 0 0 26.12 26.02 26.17

3634 0.87 188.1 2862 1140 2438 2205 118.9 9.3 496 3644 0.00 1.00 4.20 0.842 9254 0.000 0.037 2859 1798 2283 2405 2162 0 0 0 0 0 0 26.32 26.27 25.42

3763 0.91 223.2 2858 1798 2407 2162 108.1 8.0 509 3825 0.08 1.08 51.10 0.568 10532 0.190 0.047 2874 2492 2129 2257 2002 0 0 0 0 0 0 26.13 25.68 25.19

3946 0.91 223.2 2873 2492 2249 1998 90.3 10.1 544 3954 0.00 1.00 0.00 0.000 1030 0.000 0.038 2876 1829 2124 2249 1999 0 0 0 0 0 0 26.09 26.06 26.11

4079 0.91 223.2 2877 1829 2246 1998 76.4 11.0 569 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 1829 2122 2246 1998 0 0 0 0 0 0 26.22 26.30 26.29

4210 0.91 223.2 2876 1829 2245 1998 59.7 14.5 594 4217 0.00 1.02 0.00 0.000 260 0.000 0.044 2874 2501 2121 2245 1998 0 0 0 0 0 0 26.38 26.28 26.44

4396 0.91 223.2 2874 2501 2241 1998 31.3 12.2 628 4404 0.00 1.05 0.00 0.000 1030 0.000 0.038 2877 1794 2119 2241 1998 0 0 0 0 0 0 26.42 26.40 26.44

4535 1.05 336.6 2877 1793 2241 1998 21.6 3.4 653 4730 0.15 1.15 186.15 0.495 11044 0.119 0.044 2925 2501 1671 1812 1530 0 0 0 0 0 0 26.36 25.31 24.87

4799 1.05 336.6 2924 2500 1798 1514 2.4 11.6 694 4806 0.00 1.08 0.00 0.000 1030 0.000 0.038 2928 1799 1655 1797 1514 0 0 0 0 0 0 25.77 25.75 25.79

4812 end climb: SURFACE_DEPTH_REACHED

state 4812 begin surface coast

4829 end surface coast: CONTROL_FINISHED_OK

state 4829 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	44	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	40	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	48	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	74.0
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	030921,093731,4750.5659,-12510.4102,4,1.2,6,15.7,0.3,41.5,8,7.8	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	0.48	MHEAD_RNG_PITCHd_Wd	12.0,3647,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-61.2	D_GRID	248
GPS2	030921,094347,4750.5840,-12510.3848,3,0.9,5,15.7,0.5,314.9,11,9.8

FINISH	-0.5,1.012440	_24V_AH	24.56,10.966
SM_CCo	4849,154.55,0.601,1,0,589,603.44	_10V_AH	10.27,6.331
SM_GC	0.46,7.72,0.30,154.55,0.057,0.045,0.601,175,2022,589,-7.39,-1.27,603.44,0,0,0,0,1,0,25.89,25.86,24.56	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.10,-12521.07,030921,074953	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.147553	MEM	211616
HUMID	52.55	DATA_FILE_SIZE	36829,699
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	82318,0
TCM_TEMP	15.30	CFSIZE	260030464,247209984
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	122657669120.000000	CURRENT	0.057,162.04,1
CP_POWER	328.190000	GPS	030921,110931,4750.922,-12510.008,31,1.1,32,15.7,0.3,18.5,8,5.8
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	224	100.12	SBE_CT	407	64	644.64
Roll_motor	23	78	45.48	WL_blue_red_Chl	1298	37	1194.32
VBD_pump_during_apogee	677	841	13996.37	nil	0	0	0.00
VBD_pump_during_surface	154	600	2279.44	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	4673	25	2869.22
Iridium_during_xfer	243	108	650.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.13
TT8	1456	12	182.81
LPSleep	1125	2	25.31
TT8_Active	807	12	101.31
TT8_Sampling	1762	37	682.06
TT8_CF8	268	42	118.46
TT8_Kalman	0	0	0.00
Analog_circuits	1778	11	200.96
GPS_charging	0	0	0.00
Compass	1565	8	132.51
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.79	-116.8	168	1997	747	426	0.0	0.0	0	133	0.00	0.00	-104.85	0.011	16386	0.000	0.000	169	1999	3061	3051	3071	0	0	0	0	0	0	25.99	28.83	26.08
136	-0.79	-116.8	168	1998	3053	3071	3.9	-7.5	15	160	8.38	1.12	-9.40	0.021	18980	0.218	0.071	2328	1281	3530	3529	3532	0	0	0	0	0	0	25.77	24.84	25.90
325	-0.79	-116.8	2328	1281	3536	3530	38.5	-13.8	50	332	0.00	1.10	0.00	0.000	1030	0.000	0.047	2325	2000	3533	3536	3530	0	0	0	0	0	0	26.30	26.27	26.32
460	-0.79	-116.8	2325	2000	3539	3530	59.3	-15.4	75	468	0.00	1.02	0.00	0.000	260	0.000	0.045	2320	2690	3534	3538	3530	0	0	0	0	0	0	26.39	26.34	26.46
552	-0.79	-116.8	2319	2691	3540	3530	72.3	-13.5	91	559	0.00	1.02	0.00	0.000	1030	0.000	0.031	2323	1974	3534	3539	3530	0	0	0	0	0	0	26.44	26.39	26.45
683	-0.79	-116.8	2322	1972	3541	3530	90.7	-13.3	116	691	0.00	1.10	0.00	0.000	260	0.000	0.043	2320	2705	3535	3541	3530	0	0	0	0	0	0	26.51	26.41	26.56
826	-0.79	-116.8	2319	2705	3541	3530	109.9	-13.1	143	835	0.00	1.00	0.00	0.000	1030	0.000	0.032	2323	2004	3535	3541	3530	0	0	0	0	0	0	26.50	26.49	26.53
954	-0.79	-116.8	2322	2003	3542	3530	126.3	-13.1	156	958	0.00	1.00	0.00	0.000	516	0.000	0.040	2323	1323	3535	3541	3530	0	0	0	0	0	0	26.59	26.49	26.65
1058	-0.79	-116.8	2323	1323	3541	3529	140.1	-13.6	176	1063	0.00	1.02	0.00	0.000	1030	0.000	0.038	2320	2007	3536	3542	3530	0	0	0	0	0	0	26.51	26.48	26.51
1191	-0.79	-116.8	2319	2007	3542	3529	157.2	-12.9	190	1193	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2007	3535	3542	3529	0	0	0	0	0	0	26.64	26.70	26.69
1311	-0.79	-116.8	2319	2007	3542	3529	172.4	-12.9	202	1314	0.00	1.02	0.00	0.000	260	0.000	0.045	2314	2703	3535	3542	3529	0	0	0	0	0	0	26.65	26.55	26.71
1355	-0.79	-116.8	2314	2703	3542	3529	177.5	-12.2	210	1359	0.00	1.00	0.00	0.000	1030	0.000	0.031	2317	2001	3535	3542	3529	0	0	0	0	0	0	26.62	26.60	26.65
1487	-0.79	-116.8	2317	2000	3542	3528	195.0	-12.5	224	1491	0.00	1.00	0.00	0.000	516	0.000	0.040	2323	1319	3535	3542	3528	0	0	0	0	0	0	26.67	26.58	26.72
1591	-0.79	-116.8	2322	1319	3542	3528	208.5	-12.8	244	1596	0.00	1.02	0.00	0.000	1030	0.000	0.037	2320	2003	3534	3542	3527	0	0	0	0	0	0	26.62	26.60	26.65
1724	-0.79	-116.8	2318	2003	3542	3526	224.3	-11.5	258	1726	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2003	3534	3542	3526	0	0	0	0	0	0	26.70	26.76	26.75
1846	-0.79	-116.8	2319	2003	3542	3526	238.3	-11.7	270	1853	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2003	3533	3541	3526	0	0	0	0	0	0	26.69	26.77	26.77
1932	end dive: TARGET_DEPTH_EXCEEDED
state	1932	begin apogee
1937	-0.18	0.0	2319	1773	3542	3526	249.0	-11.3	279	2124	0.68	0.00	180.48	0.586	10246	0.160	0.000	2522	1773	3044	3102	2986	0	0	0	0	0	0	26.34	25.24	24.79
2129	end apogee: CONTROL_FINISHED_OK
state	2129	begin climb
2131	0.79	116.8	2521	1772	3096	2981	254.1	0.0	298	2315	1.02	1.05	174.60	0.551	10756	0.121	0.041	2840	1138	2569	2666	2472	0	0	0	0	0	0	25.31	25.10	24.63
2468	0.79	116.8	2839	1138	2649	2456	232.5	11.8	361	2475	0.00	1.02	0.00	0.000	1030	0.000	0.035	2837	1799	2552	2648	2456	0	0	0	0	0	0	25.86	25.84	25.89
2595	0.79	116.8	2836	1798	2646	2456	218.2	11.1	374	2597	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	1798	2551	2646	2456	0	0	0	0	0	0	26.10	26.17	26.17
2715	0.79	116.8	2836	1798	2644	2455	205.8	10.1	386	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	1797	2550	2644	2456	0	0	0	0	0	0	26.23	26.31	26.29
2838	0.79	122.0	2837	1798	2643	2455	193.7	9.7	398	2845	0.00	0.00	0.00	0.000	38	0.000	0.000	2837	1798	2549	2643	2455	0	0	0	0	0	0	26.34	26.41	26.40
2966	0.82	144.0	2836	1798	2642	2455	182.0	8.7	411	3005	0.00	0.00	33.72	0.604	8230	0.000	0.000	2836	1798	2457	2568	2347	0	0	0	0	0	0	26.43	25.67	25.35
3128	0.82	148.0	2836	1798	2559	2342	166.9	9.8	427	3135	0.00	0.00	0.00	0.000	38	0.000	0.000	2837	1798	2450	2559	2342	0	0	0	0	0	0	26.23	26.33	26.29
3256	0.86	175.3	2836	1798	2557	2342	155.0	8.4	440	3307	0.10	0.00	46.97	0.588	10278	0.225	0.000	2856	1799	2332	2453	2211	0	0	0	0	0	0	26.03	25.61	25.17
3426	0.86	175.3	2857	1800	2441	2205	138.0	10.2	457	3431	0.00	1.02	0.00	0.000	516	0.000	0.047	2862	1140	2323	2441	2205	0	0	0	0	0	0	26.12	26.02	26.17
3634	0.87	188.1	2862	1140	2438	2205	118.9	9.3	496	3644	0.00	1.00	4.20	0.842	9254	0.000	0.037	2859	1798	2283	2405	2162	0	0	0	0	0	0	26.32	26.27	25.42
3763	0.91	223.2	2858	1798	2407	2162	108.1	8.0	509	3825	0.08	1.08	51.10	0.568	10532	0.190	0.047	2874	2492	2129	2257	2002	0	0	0	0	0	0	26.13	25.68	25.19
3946	0.91	223.2	2873	2492	2249	1998	90.3	10.1	544	3954	0.00	1.00	0.00	0.000	1030	0.000	0.038	2876	1829	2124	2249	1999	0	0	0	0	0	0	26.09	26.06	26.11
4079	0.91	223.2	2877	1829	2246	1998	76.4	11.0	569	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	1829	2122	2246	1998	0	0	0	0	0	0	26.22	26.30	26.29
4210	0.91	223.2	2876	1829	2245	1998	59.7	14.5	594	4217	0.00	1.02	0.00	0.000	260	0.000	0.044	2874	2501	2121	2245	1998	0	0	0	0	0	0	26.38	26.28	26.44
4396	0.91	223.2	2874	2501	2241	1998	31.3	12.2	628	4404	0.00	1.05	0.00	0.000	1030	0.000	0.038	2877	1794	2119	2241	1998	0	0	0	0	0	0	26.42	26.40	26.44
4535	1.05	336.6	2877	1793	2241	1998	21.6	3.4	653	4730	0.15	1.15	186.15	0.495	11044	0.119	0.044	2925	2501	1671	1812	1530	0	0	0	0	0	0	26.36	25.31	24.87
4799	1.05	336.6	2924	2500	1798	1514	2.4	11.6	694	4806	0.00	1.08	0.00	0.000	1030	0.000	0.038	2928	1799	1655	1797	1514	0	0	0	0	0	0	25.77	25.75	25.79
4812	end climb: SURFACE_DEPTH_REACHED
state	4812	begin surface coast
4829	end surface coast: CONTROL_FINISHED_OK
state	4829	begin surface