Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 46 * 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 46 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 53 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 78.0

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 78.0 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 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 53 XPDR_INHIBIT 90

DIVE 46 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 030921,123431,4751.1343,-12509.6201,6,1.2,26,15.7,0.4,139.7,8,1.9 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4747.975,-12513.804

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.48 MHEAD_RNG_PITCHd_Wd 219.9,7823,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -64.0 D_GRID 225

GPS2 030921,124011,4751.0972,-12509.5684,3,0.6,5,15.7,0.3,0.0,12,9.3

Post-dive calculations and measurements:

FINISH -0.4,1.025506 _24V_AH 23.56,11.277

SM_CCo 4439,649.67,0.454,0,0,590,603.93 _10V_AH 10.27,6.448

SM_GC 0.50,7.62,0.30,649.67,0.062,0.047,0.454,187,2006,590,-7.38,-1.39,603.93,0,0,0,0,0,0,26.08,26.05,24.75 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,030921,111136 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.151298 MEM 211644

HUMID 51.14 DATA_FILE_SIZE 33524,636

INTERNAL_PRESSURE 8.74779 CAP_FILE_SIZE 88275,0

TCM_TEMP 15.20 CFSIZE 260030464,247062528

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

CP_FREE 122420297728.000000 CURRENT 0.060,162.09,1

CP_POWER 328.190000 GPS 030921,140709,4750.697,-12510.097,7,0.7,24,15.7,0.1,0.0,12,2.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 92.46 SBE_CT 384 64 583.51

Roll_motor 27 74 48.84 WL_blue_red_Chl 1221 37 1077.71

VBD_pump_during_apogee 545 803 10323.83 nil 0 0 0.00

VBD_pump_during_surface 649 454 6955.36 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 4262 25 2510.32

Iridium_during_xfer 222 100 525.34 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 2.18

TT8 1429 12 179.39

LPSleep 991 2 22.29

TT8_Active 1201 12 150.73

TT8_Sampling 1586 37 614.27

TT8_CF8 264 42 116.75

TT8_Kalman 0 0 0.00

Analog_circuits 2091 11 236.23

GPS_charging 0 0 0.00

Compass 1413 8 119.61

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 -116.8 172 2008 744 426 0.0 0.0 0 133 0.00 0.00 -105.07 0.010 16386 0.000 0.000 172 2008 3057 3049 3066 0 0 0 0 0 0 26.12 28.83 26.15

136 -0.79 -116.8 172 2008 3050 3066 3.9 -7.3 15 159 8.32 1.08 -9.43 0.022 18724 0.220 0.075 2310 2696 3529 3528 3530 0 0 0 0 0 0 25.85 24.84 26.00

267 -0.79 -116.8 2310 2695 3534 3529 34.2 -17.7 38 275 0.05 1.02 0.00 0.000 3078 0.198 0.032 2324 1983 3531 3534 3529 0 0 0 0 0 0 26.04 26.28 26.14

400 -0.79 -116.8 2323 1980 3536 3528 54.9 -17.8 63 408 0.00 1.08 0.00 0.000 260 0.000 0.044 2320 2696 3532 3537 3528 0 0 0 0 0 0 26.39 26.33 26.46

481 -0.79 -116.8 2319 2695 3537 3528 69.1 -16.2 78 489 0.00 1.00 0.00 0.000 1030 0.000 0.070 2323 2000 3532 3537 3528 0 0 0 0 0 0 26.34 25.55 26.39

613 -0.79 -116.8 2323 1998 3539 3528 86.6 -12.0 103 620 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 1998 3533 3539 3528 0 0 0 0 0 0 26.50 26.57 26.55

750 -0.79 -116.8 2323 1998 3539 3527 104.1 -13.8 126 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 1998 3534 3540 3528 0 0 0 0 0 0 26.56 26.62 26.61

881 -0.79 -116.8 2323 1997 3540 3527 121.8 -13.6 139 888 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 1998 3533 3539 3527 0 0 0 0 0 0 26.56 26.63 26.63

1009 -0.79 -116.8 2323 1997 3541 3527 139.4 -13.4 152 1014 0.00 1.00 0.00 0.000 516 0.000 0.041 2329 1321 3533 3540 3526 0 0 0 0 0 0 26.56 26.52 26.63

1054 -0.79 -116.8 2328 1321 3540 3527 145.3 -13.2 160 1059 0.00 1.02 0.00 0.000 1030 0.000 0.037 2325 2000 3533 3540 3526 0 0 0 0 0 0 26.57 26.53 26.59

1187 -0.79 -116.8 2325 2000 3541 3526 162.3 -12.3 174 1191 0.00 1.02 0.00 0.000 260 0.000 0.049 2320 2695 3533 3541 3526 0 0 0 0 0 0 26.64 26.46 26.65

1209 -0.79 -116.8 2319 2695 3541 3525 164.9 -12.0 178 1213 0.00 1.00 0.00 0.000 1030 0.000 0.032 2323 1992 3533 3541 3526 0 0 0 0 0 0 26.61 26.59 26.63

1343 -0.79 -116.8 2322 1991 3540 3525 180.2 -12.1 192 1348 0.00 1.00 0.00 0.000 516 0.000 0.040 2328 1314 3533 3541 3525 0 0 0 0 0 0 26.68 26.53 26.73

1376 -0.79 -116.8 2328 1314 3540 3525 184.7 -12.2 198 1380 0.00 1.02 0.00 0.000 1030 0.000 0.037 2325 1997 3533 3541 3525 0 0 0 0 0 0 26.58 26.58 26.59

1508 -0.79 -116.8 2325 1996 3541 3525 200.3 -12.1 212 1512 0.00 1.02 0.00 0.000 260 0.000 0.044 2320 2696 3533 3541 3525 0 0 0 0 0 0 26.69 26.58 26.74

1541 -0.79 -116.8 2319 2696 3540 3525 204.3 -11.8 218 1545 0.00 1.00 0.00 0.000 1030 0.000 0.033 2322 1989 3533 3541 3525 0 0 0 0 0 0 26.66 26.62 26.67

1673 -0.79 -116.8 2323 1988 3541 3525 220.1 -11.8 232 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 1988 3533 3541 3525 0 0 0 0 0 0 26.67 26.78 26.74

1721 end dive: TARGET_DEPTH_EXCEEDED

state 1721 begin apogee

1726 -0.18 0.0 2324 1783 3541 3524 225.9 -11.6 237 1913 0.65 0.00 178.07 0.585 10246 0.156 0.000 2524 1782 3042 3100 2984 0 0 0 0 0 0 26.35 25.10 24.79

1918 end apogee: CONTROL_FINISHED_OK

state 1918 begin climb

1920 0.79 116.8 2523 1782 3093 2978 229.7 0.0 256 2098 1.00 1.08 169.55 0.549 10756 0.121 0.039 2834 1135 2569 2666 2472 0 0 0 0 0 0 25.35 25.13 24.68

2199 0.83 151.1 2834 1135 2644 2445 216.7 8.0 306 2250 0.05 1.02 42.50 0.584 11302 0.205 0.035 2843 1795 2426 2544 2309 0 0 0 0 0 0 25.51 25.74 24.86

2371 0.84 163.7 2843 1795 2527 2296 201.6 9.3 328 2391 0.00 1.08 11.82 0.678 8484 0.000 0.044 2841 2487 2373 2494 2253 0 0 0 0 0 0 25.94 25.66 25.18

2460 0.85 169.5 2840 2487 2487 2252 193.3 9.7 344 2464 0.00 1.00 0.00 0.000 1062 0.000 0.037 2844 1824 2369 2487 2252 0 0 0 0 0 0 25.96 25.93 25.98

2592 0.85 169.5 2843 1824 2485 2252 180.0 10.2 358 2600 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1823 2369 2486 2252 0 0 0 0 0 0 26.13 26.21 26.20

2724 0.85 169.5 2843 1823 2485 2252 166.5 10.7 371 2731 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 1823 2368 2485 2252 0 0 0 0 0 0 26.30 26.38 26.36

2852 0.85 169.5 2843 1823 2484 2252 152.5 10.6 384 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 1823 2367 2484 2251 0 0 0 0 0 0 26.39 26.46 26.45

2972 0.85 169.5 2843 1823 2483 2252 139.7 10.5 396 2974 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 1823 2368 2484 2252 0 0 0 0 0 0 26.46 26.53 26.51

3094 0.85 169.5 2843 1824 2482 2252 126.6 11.2 408 3098 0.00 1.10 0.00 0.000 516 0.000 0.048 2849 1104 2367 2482 2252 0 0 0 0 0 0 26.51 26.40 26.57

3169 0.85 169.5 2849 1103 2482 2252 117.7 11.4 422 3173 0.00 1.05 0.00 0.000 1030 0.000 0.037 2846 1798 2367 2483 2252 0 0 0 0 0 0 26.48 26.46 26.51

3303 0.86 175.8 2845 1798 2481 2252 104.4 9.6 436 3315 0.00 1.00 3.90 0.803 8484 0.000 0.041 2841 2502 2332 2453 2212 0 0 0 0 0 0 26.54 25.92 25.26

3517 0.86 175.8 2840 2502 2453 2212 80.4 11.5 477 3525 0.00 1.05 0.00 0.000 1030 0.000 0.039 2844 1792 2332 2453 2212 0 0 0 0 0 0 26.48 26.48 26.48

3651 0.86 180.9 2843 1791 2453 2212 66.6 9.7 502 3660 0.08 1.10 2.33 0.513 10532 0.206 0.044 2857 2503 2312 2434 2190 0 0 0 0 0 0 26.34 26.32 25.32

3714 0.88 195.6 2856 2503 2436 2190 60.5 9.1 513 3738 0.00 1.05 17.30 0.596 9254 0.000 0.038 2860 1792 2247 2374 2121 0 0 0 0 0 0 26.54 26.51 25.66

3866 0.94 245.9 2860 1792 2364 2118 48.9 7.1 540 3952 0.10 1.12 75.00 0.532 10788 0.137 0.049 2894 1095 2039 2170 1909 0 0 0 0 0 0 26.28 25.63 25.17

3966 0.95 253.1 2894 1095 2165 1907 40.1 9.6 554 3974 0.00 1.10 2.03 0.296 9254 0.000 0.037 2891 1799 2017 2148 1886 0 0 0 0 0 0 25.82 25.77 23.56

4102 0.95 253.1 2891 1799 2149 1884 23.9 12.8 579 4110 0.00 1.05 0.00 0.000 260 0.000 0.044 2886 2501 2017 2149 1886 0 0 0 0 0 0 26.13 26.06 26.18

4303 0.99 281.8 2886 2502 2145 1885 8.9 8.3 617 4353 0.00 1.05 43.03 0.513 9254 0.000 0.037 2890 1795 1896 2034 1759 0 0 0 0 0 0 26.30 26.27 24.88

4389 end climb: SURFACE_DEPTH_REACHED

state 4389 begin surface coast

4420 end surface coast: CONTROL_FINISHED_OK

state 4420 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	46	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	53	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	78.0
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	030921,123431,4751.1343,-12509.6201,6,1.2,26,15.7,0.4,139.7,8,1.9	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4747.975,-12513.804
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.48	MHEAD_RNG_PITCHd_Wd	219.9,7823,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-64.0	D_GRID	225
GPS2	030921,124011,4751.0972,-12509.5684,3,0.6,5,15.7,0.3,0.0,12,9.3

FINISH	-0.4,1.025506	_24V_AH	23.56,11.277
SM_CCo	4439,649.67,0.454,0,0,590,603.93	_10V_AH	10.27,6.448
SM_GC	0.50,7.62,0.30,649.67,0.062,0.047,0.454,187,2006,590,-7.38,-1.39,603.93,0,0,0,0,0,0,26.08,26.05,24.75	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,030921,111136	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.151298	MEM	211644
HUMID	51.14	DATA_FILE_SIZE	33524,636
INTERNAL_PRESSURE	8.74779	CAP_FILE_SIZE	88275,0
TCM_TEMP	15.20	CFSIZE	260030464,247062528
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
CP_FREE	122420297728.000000	CURRENT	0.060,162.09,1
CP_POWER	328.190000	GPS	030921,140709,4750.697,-12510.097,7,0.7,24,15.7,0.1,0.0,12,2.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	92.46	SBE_CT	384	64	583.51
Roll_motor	27	74	48.84	WL_blue_red_Chl	1221	37	1077.71
VBD_pump_during_apogee	545	803	10323.83	nil	0	0	0.00
VBD_pump_during_surface	649	454	6955.36	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	4262	25	2510.32
Iridium_during_xfer	222	100	525.34	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	2.18
TT8	1429	12	179.39
LPSleep	991	2	22.29
TT8_Active	1201	12	150.73
TT8_Sampling	1586	37	614.27
TT8_CF8	264	42	116.75
TT8_Kalman	0	0	0.00
Analog_circuits	2091	11	236.23
GPS_charging	0	0	0.00
Compass	1413	8	119.61
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	172	2008	744	426	0.0	0.0	0	133	0.00	0.00	-105.07	0.010	16386	0.000	0.000	172	2008	3057	3049	3066	0	0	0	0	0	0	26.12	28.83	26.15
136	-0.79	-116.8	172	2008	3050	3066	3.9	-7.3	15	159	8.32	1.08	-9.43	0.022	18724	0.220	0.075	2310	2696	3529	3528	3530	0	0	0	0	0	0	25.85	24.84	26.00
267	-0.79	-116.8	2310	2695	3534	3529	34.2	-17.7	38	275	0.05	1.02	0.00	0.000	3078	0.198	0.032	2324	1983	3531	3534	3529	0	0	0	0	0	0	26.04	26.28	26.14
400	-0.79	-116.8	2323	1980	3536	3528	54.9	-17.8	63	408	0.00	1.08	0.00	0.000	260	0.000	0.044	2320	2696	3532	3537	3528	0	0	0	0	0	0	26.39	26.33	26.46
481	-0.79	-116.8	2319	2695	3537	3528	69.1	-16.2	78	489	0.00	1.00	0.00	0.000	1030	0.000	0.070	2323	2000	3532	3537	3528	0	0	0	0	0	0	26.34	25.55	26.39
613	-0.79	-116.8	2323	1998	3539	3528	86.6	-12.0	103	620	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	1998	3533	3539	3528	0	0	0	0	0	0	26.50	26.57	26.55
750	-0.79	-116.8	2323	1998	3539	3527	104.1	-13.8	126	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	1998	3534	3540	3528	0	0	0	0	0	0	26.56	26.62	26.61
881	-0.79	-116.8	2323	1997	3540	3527	121.8	-13.6	139	888	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	1998	3533	3539	3527	0	0	0	0	0	0	26.56	26.63	26.63
1009	-0.79	-116.8	2323	1997	3541	3527	139.4	-13.4	152	1014	0.00	1.00	0.00	0.000	516	0.000	0.041	2329	1321	3533	3540	3526	0	0	0	0	0	0	26.56	26.52	26.63
1054	-0.79	-116.8	2328	1321	3540	3527	145.3	-13.2	160	1059	0.00	1.02	0.00	0.000	1030	0.000	0.037	2325	2000	3533	3540	3526	0	0	0	0	0	0	26.57	26.53	26.59
1187	-0.79	-116.8	2325	2000	3541	3526	162.3	-12.3	174	1191	0.00	1.02	0.00	0.000	260	0.000	0.049	2320	2695	3533	3541	3526	0	0	0	0	0	0	26.64	26.46	26.65
1209	-0.79	-116.8	2319	2695	3541	3525	164.9	-12.0	178	1213	0.00	1.00	0.00	0.000	1030	0.000	0.032	2323	1992	3533	3541	3526	0	0	0	0	0	0	26.61	26.59	26.63
1343	-0.79	-116.8	2322	1991	3540	3525	180.2	-12.1	192	1348	0.00	1.00	0.00	0.000	516	0.000	0.040	2328	1314	3533	3541	3525	0	0	0	0	0	0	26.68	26.53	26.73
1376	-0.79	-116.8	2328	1314	3540	3525	184.7	-12.2	198	1380	0.00	1.02	0.00	0.000	1030	0.000	0.037	2325	1997	3533	3541	3525	0	0	0	0	0	0	26.58	26.58	26.59
1508	-0.79	-116.8	2325	1996	3541	3525	200.3	-12.1	212	1512	0.00	1.02	0.00	0.000	260	0.000	0.044	2320	2696	3533	3541	3525	0	0	0	0	0	0	26.69	26.58	26.74
1541	-0.79	-116.8	2319	2696	3540	3525	204.3	-11.8	218	1545	0.00	1.00	0.00	0.000	1030	0.000	0.033	2322	1989	3533	3541	3525	0	0	0	0	0	0	26.66	26.62	26.67
1673	-0.79	-116.8	2323	1988	3541	3525	220.1	-11.8	232	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	1988	3533	3541	3525	0	0	0	0	0	0	26.67	26.78	26.74
1721	end dive: TARGET_DEPTH_EXCEEDED
state	1721	begin apogee
1726	-0.18	0.0	2324	1783	3541	3524	225.9	-11.6	237	1913	0.65	0.00	178.07	0.585	10246	0.156	0.000	2524	1782	3042	3100	2984	0	0	0	0	0	0	26.35	25.10	24.79
1918	end apogee: CONTROL_FINISHED_OK
state	1918	begin climb
1920	0.79	116.8	2523	1782	3093	2978	229.7	0.0	256	2098	1.00	1.08	169.55	0.549	10756	0.121	0.039	2834	1135	2569	2666	2472	0	0	0	0	0	0	25.35	25.13	24.68
2199	0.83	151.1	2834	1135	2644	2445	216.7	8.0	306	2250	0.05	1.02	42.50	0.584	11302	0.205	0.035	2843	1795	2426	2544	2309	0	0	0	0	0	0	25.51	25.74	24.86
2371	0.84	163.7	2843	1795	2527	2296	201.6	9.3	328	2391	0.00	1.08	11.82	0.678	8484	0.000	0.044	2841	2487	2373	2494	2253	0	0	0	0	0	0	25.94	25.66	25.18
2460	0.85	169.5	2840	2487	2487	2252	193.3	9.7	344	2464	0.00	1.00	0.00	0.000	1062	0.000	0.037	2844	1824	2369	2487	2252	0	0	0	0	0	0	25.96	25.93	25.98
2592	0.85	169.5	2843	1824	2485	2252	180.0	10.2	358	2600	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1823	2369	2486	2252	0	0	0	0	0	0	26.13	26.21	26.20
2724	0.85	169.5	2843	1823	2485	2252	166.5	10.7	371	2731	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	1823	2368	2485	2252	0	0	0	0	0	0	26.30	26.38	26.36
2852	0.85	169.5	2843	1823	2484	2252	152.5	10.6	384	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	1823	2367	2484	2251	0	0	0	0	0	0	26.39	26.46	26.45
2972	0.85	169.5	2843	1823	2483	2252	139.7	10.5	396	2974	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	1823	2368	2484	2252	0	0	0	0	0	0	26.46	26.53	26.51
3094	0.85	169.5	2843	1824	2482	2252	126.6	11.2	408	3098	0.00	1.10	0.00	0.000	516	0.000	0.048	2849	1104	2367	2482	2252	0	0	0	0	0	0	26.51	26.40	26.57
3169	0.85	169.5	2849	1103	2482	2252	117.7	11.4	422	3173	0.00	1.05	0.00	0.000	1030	0.000	0.037	2846	1798	2367	2483	2252	0	0	0	0	0	0	26.48	26.46	26.51
3303	0.86	175.8	2845	1798	2481	2252	104.4	9.6	436	3315	0.00	1.00	3.90	0.803	8484	0.000	0.041	2841	2502	2332	2453	2212	0	0	0	0	0	0	26.54	25.92	25.26
3517	0.86	175.8	2840	2502	2453	2212	80.4	11.5	477	3525	0.00	1.05	0.00	0.000	1030	0.000	0.039	2844	1792	2332	2453	2212	0	0	0	0	0	0	26.48	26.48	26.48
3651	0.86	180.9	2843	1791	2453	2212	66.6	9.7	502	3660	0.08	1.10	2.33	0.513	10532	0.206	0.044	2857	2503	2312	2434	2190	0	0	0	0	0	0	26.34	26.32	25.32
3714	0.88	195.6	2856	2503	2436	2190	60.5	9.1	513	3738	0.00	1.05	17.30	0.596	9254	0.000	0.038	2860	1792	2247	2374	2121	0	0	0	0	0	0	26.54	26.51	25.66
3866	0.94	245.9	2860	1792	2364	2118	48.9	7.1	540	3952	0.10	1.12	75.00	0.532	10788	0.137	0.049	2894	1095	2039	2170	1909	0	0	0	0	0	0	26.28	25.63	25.17
3966	0.95	253.1	2894	1095	2165	1907	40.1	9.6	554	3974	0.00	1.10	2.03	0.296	9254	0.000	0.037	2891	1799	2017	2148	1886	0	0	0	0	0	0	25.82	25.77	23.56
4102	0.95	253.1	2891	1799	2149	1884	23.9	12.8	579	4110	0.00	1.05	0.00	0.000	260	0.000	0.044	2886	2501	2017	2149	1886	0	0	0	0	0	0	26.13	26.06	26.18
4303	0.99	281.8	2886	2502	2145	1885	8.9	8.3	617	4353	0.00	1.05	43.03	0.513	9254	0.000	0.037	2890	1795	1896	2034	1759	0	0	0	0	0	0	26.30	26.27	24.88
4389	end climb: SURFACE_DEPTH_REACHED
state	4389	begin surface coast
4420	end surface coast: CONTROL_FINISHED_OK
state	4420	begin surface