Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 60 * 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 60 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 54 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 50 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 200 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 70 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 115 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 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 1800 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 205 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 215 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 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 106.0

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 5

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 5 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 200 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 70

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 1800

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 115

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 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 106.0 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 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 215 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 205 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 1 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 50 XPDR_INHIBIT 90

DIVE 60 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 040921,180231,4751.3813,-12509.3730,13,0.8,41,15.7,0.2,0.0,11,1.5 SPEED_LIMITS 0.165,0.230

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4747.975,-12513.804

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.30 MHEAD_RNG_PITCHd_Wd 197.9,8404,-17.2,-9.524,-22.49,1865

_SM_ANGLEo -51.5 D_GRID 222

GPS2 040921,180849,4751.4233,-12509.4121,3,0.7,5,15.7,0.9,279.6,12,4.4

Post-dive calculations and measurements:

FINISH -0.5,1.013594 CP_POWER1 0.000000

SM_CCo 6297,-0.20,0.233,0,0,550,551.92 _24V_AH 24.34,13.328

SM_GC 0.31,7.68,0.28,-0.20,0.057,0.049,0.233,165,1998,550,-7.40,-1.39,551.92,0,0,0,0,0,0,25.88,25.83,25.29 _10V_AH 10.27,7.525

IRIDIUM_FIX 4754.91,-12604.00,040921,161303 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.146055 FG_AHR_10Vo 0.000

HUMID 53.18 MEM 211620

INTERNAL_PRESSURE 8.7185 DATA_FILE_SIZE 43439,822

TCM_TEMP 15.30 CAP_FILE_SIZE 99472,0

XPDR_PINGS 0 CFSIZE 260030464,245755904

ALTIM_BOTTOM_PING 180.9,19.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 119885660160.000000 CURRENT 0.049,21.49,1

CP_POWER 328.190000 GPS 040921,195601,4751.286,-12509.556,6,0.8,27,15.7,0.8,31.4,9,2.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 95.52 SBE_CT 509 64 798.52

Roll_motor 25 71 43.72 WL_blue_red_Chl 1610 37 1467.91

VBD_pump_during_apogee 649 638 10102.95 nil 0 0 0.00

VBD_pump_during_surface 160 630 2467.92 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 6134 25 3732.54

Iridium_during_xfer 245 104 627.15 nil 0 0 0.00

Transponder_ping 1 420 10.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.27

TT8 1824 12 228.95

LPSleep 1718 2 38.64

TT8_Active 800 12 100.50

TT8_Sampling 2046 37 792.16

TT8_CF8 326 42 144.13

TT8_Kalman 0 0 0.00

Analog_circuits 1847 11 208.66

GPS_charging 0 0 0.00

Compass 1873 8 158.58

RAFOS 0 0 0.00

Transponder 10 30 3.11

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 -0.75 -116.8 164 1993 693 405 0.0 0.0 0 139 0.00 0.00 -111.88 0.010 16386 0.000 0.000 164 1989 3139 3129 3150 0 0 0 0 0 0 26.10 28.83 26.17

142 -0.75 -116.8 164 1989 3129 3150 4.3 -9.4 16 159 8.30 1.08 -2.88 0.030 18980 0.221 0.071 2339 1303 3279 3282 3276 0 0 0 0 0 0 25.81 24.82 26.10

346 -0.75 -116.8 2339 1303 3291 3274 39.5 -11.5 54 353 0.00 1.05 0.00 0.000 1030 0.000 0.037 2336 1998 3282 3290 3274 0 0 0 0 0 0 26.35 26.34 26.37

481 -0.75 -116.8 2335 1998 3293 3274 59.1 -15.0 79 489 0.00 1.02 0.00 0.000 260 0.000 0.044 2331 2694 3283 3293 3274 0 0 0 0 0 0 26.45 26.35 26.51

678 -0.75 -116.8 2330 2694 3295 3274 80.7 -9.7 115 685 0.00 1.02 0.00 0.000 1030 0.000 0.032 2334 1977 3284 3295 3274 0 0 0 0 0 0 26.51 26.49 26.51

811 -0.75 -116.8 2333 1977 3295 3273 94.1 -9.8 140 819 0.00 0.98 0.00 0.000 516 0.000 0.040 2339 1316 3284 3295 3273 0 0 0 0 0 0 26.59 26.48 26.66

882 -0.75 -116.8 2338 1316 3295 3273 101.5 -9.8 153 890 0.00 1.02 0.00 0.000 1030 0.000 0.036 2335 2003 3284 3295 3273 0 0 0 0 0 0 26.54 26.51 26.55

1009 -0.75 -116.8 2335 2003 3296 3272 114.5 -11.0 166 1013 0.00 1.00 0.00 0.000 260 0.000 0.044 2331 2690 3284 3296 3272 0 0 0 0 0 0 26.59 26.53 26.66

1103 -0.75 -116.8 2330 2690 3296 3272 125.1 -11.0 184 1108 0.00 0.98 0.00 0.000 1030 0.000 0.031 2333 2001 3284 3296 3272 0 0 0 0 0 0 26.60 26.58 26.61

1236 -0.75 -116.8 2333 2000 3296 3272 139.2 -10.6 198 1240 0.00 1.00 0.00 0.000 516 0.000 0.048 2339 1321 3284 3296 3272 0 0 0 0 0 0 26.67 26.56 26.72

1309 -0.75 -116.8 2338 1321 3296 3272 147.2 -11.0 212 1314 0.00 1.02 0.00 0.000 1030 0.000 0.037 2336 2007 3284 3296 3272 0 0 0 0 0 0 26.61 26.58 26.64

1442 -0.75 -116.8 2335 2008 3296 3271 161.4 -10.7 226 1445 0.00 1.02 0.00 0.000 516 0.000 0.040 2339 1321 3283 3296 3271 0 0 0 0 0 0 26.68 26.58 26.72

1498 -0.75 -116.8 2338 1321 3296 3271 167.8 -10.6 237 1505 0.00 1.02 0.00 0.000 1030 0.000 0.037 2336 2007 3283 3296 3271 0 0 0 0 0 0 26.67 26.60 26.66

1629 -0.75 -116.8 2335 2007 3296 3270 180.9 -10.4 250 1633 0.00 1.02 0.00 0.000 516 0.000 0.039 2339 1321 3283 3296 3270 0 0 0 0 0 0 26.67 26.60 26.74

1672 -0.75 -116.8 2338 1321 3296 3270 185.8 -10.1 258 1676 0.00 1.02 0.00 0.000 1030 0.000 0.036 2336 2009 3283 3296 3270 0 0 0 0 0 0 26.65 26.62 26.67

1772 end dive: BOTTOM_OBSTACLE_DETECTED

state 1773 begin apogee

1778 -0.18 0.0 2335 1782 3297 3269 196.0 -9.5 269 1984 0.60 0.00 200.93 0.545 10246 0.153 0.000 2519 1782 2798 2856 2741 0 0 0 0 0 0 26.29 25.22 24.80

1990 end apogee: CONTROL_FINISHED_OK

state 1990 begin loiter

2115 -0.18 0.0 2518 1782 2835 2726 204.5 -0.8 302 2117 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2780 2835 2726 0 0 0 0 0 0 25.96 26.03 26.01

2235 -0.18 0.0 2518 1782 2834 2726 205.3 -0.3 314 2237 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2780 2834 2726 0 0 0 0 0 0 26.16 26.22 26.22

2355 -0.18 0.0 2518 1782 2833 2726 205.3 0.1 326 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2779 2833 2726 0 0 0 0 0 0 26.27 26.36 26.35

2475 -0.18 0.0 2518 1782 2832 2726 205.4 -0.1 338 2477 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2779 2832 2726 0 0 0 0 0 0 26.37 26.44 26.44

2595 -0.18 0.0 2518 1782 2832 2726 205.4 -0.0 350 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1782 2779 2832 2726 0 0 0 0 0 0 26.44 26.51 26.50

2715 -0.18 0.0 2517 1782 2832 2725 205.4 -0.1 362 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2778 2831 2726 0 0 0 0 0 0 26.50 26.57 26.56

2835 -0.18 0.0 2518 1782 2831 2725 205.3 0.0 374 2837 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2778 2831 2725 0 0 0 0 0 0 26.53 26.59 26.60

2955 -0.18 0.0 2518 1782 2830 2725 205.4 0.1 386 2957 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2778 2831 2725 0 0 0 0 0 0 26.57 26.64 26.63

3075 -0.18 0.0 2518 1782 2831 2725 205.3 0.1 398 3077 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2778 2831 2725 0 0 0 0 0 0 26.61 26.67 26.67

3195 -0.18 0.0 2518 1782 2830 2725 205.4 -0.0 410 3197 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2778 2831 2725 0 0 0 0 0 0 26.63 26.70 26.69

3315 -0.18 0.0 2518 1782 2830 2725 205.4 -0.1 422 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2777 2830 2725 0 0 0 0 0 0 26.67 26.72 26.70

3435 -0.18 0.0 2517 1782 2830 2724 205.3 0.0 434 3437 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1782 2777 2830 2724 0 0 0 0 0 0 26.67 26.77 26.73

3555 -0.18 0.0 2518 1782 2830 2725 205.3 -0.2 446 3557 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2777 2830 2725 0 0 0 0 0 0 26.68 26.74 26.74

3675 -0.18 0.0 2518 1782 2830 2724 205.3 0.1 458 3677 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1782 2777 2830 2724 0 0 0 0 0 0 26.70 26.74 26.74

3783 end loiter: LOITER_COMPLETE

state 3783 begin climb

3785 0.75 116.8 2518 1782 2829 2724 205.4 0.0 469 3987 0.93 0.00 194.27 0.549 10758 0.121 0.000 2820 1782 2320 2444 2197 0 0 0 0 0 0 26.45 25.25 24.84

4108 0.78 135.4 2819 1782 2410 2163 187.8 8.5 516 4128 0.00 1.15 15.60 0.639 8484 0.000 0.044 2817 2503 2245 2374 2116 0 0 0 0 0 0 25.89 25.63 25.15

4259 0.80 151.7 2816 2502 2354 2097 174.1 8.6 545 4287 0.05 1.02 20.05 0.623 11302 0.134 0.036 2836 1813 2174 2308 2041 0 0 0 0 0 0 25.86 26.03 25.22

4409 0.80 151.7 2835 1813 2294 2028 159.3 10.6 562 4417 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 1813 2161 2294 2028 0 0 0 0 0 0 26.15 26.21 26.20

4536 0.80 151.7 2835 1813 2292 2028 145.5 10.8 575 4544 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 1813 2160 2292 2028 0 0 0 0 0 0 26.22 26.30 26.29

4668 0.80 151.7 2835 1813 2290 2028 132.2 9.8 588 4672 0.00 1.02 0.00 0.000 260 0.000 0.044 2833 2485 2159 2290 2028 0 0 0 0 0 0 26.39 26.27 26.44

4721 0.80 152.3 2832 2486 2288 2028 127.0 9.5 598 4726 0.00 1.00 0.00 0.000 1062 0.000 0.037 2836 1810 2158 2289 2027 0 0 0 0 0 0 26.36 26.34 26.37

4854 0.80 152.3 2835 1810 2288 2027 114.1 9.8 612 4856 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 1809 2157 2288 2027 0 0 0 0 0 0 26.47 26.54 26.53

4974 0.80 152.3 2835 1809 2287 2028 102.6 10.0 624 4977 0.00 1.02 0.00 0.000 260 0.000 0.043 2833 2487 2157 2287 2027 0 0 0 0 0 0 26.52 26.41 26.58

5073 0.80 152.3 2832 2488 2286 2027 92.4 10.1 643 5080 0.00 1.02 0.00 0.000 1030 0.000 0.037 2836 1792 2156 2286 2027 0 0 0 0 0 0 26.50 26.47 26.52

5212 0.80 152.3 2836 1791 2286 2028 78.1 11.1 668 5220 0.00 1.05 0.00 0.000 516 0.000 0.047 2841 1109 2157 2286 2028 0 0 0 0 0 0 26.56 26.47 26.63

5453 0.90 241.6 2841 1109 2285 2027 59.0 4.6 713 5609 0.10 1.02 149.80 0.504 11302 0.151 0.035 2873 1795 1816 1961 1672 0 0 0 0 0 0 26.30 26.51 24.98

5736 0.90 241.6 2872 1795 1931 1641 33.6 9.8 759 5743 0.00 1.08 0.00 0.000 260 0.000 0.046 2870 2496 1786 1931 1641 0 0 0 0 0 0 26.02 25.87 26.08

5876 0.91 248.2 2869 2496 1926 1640 18.8 9.2 784 5884 0.00 1.02 0.00 0.000 1062 0.000 0.038 2873 1811 1783 1926 1640 0 0 0 0 0 0 26.12 26.08 26.15

6014 0.97 295.9 2872 1811 1925 1638 7.6 6.9 809 6086 0.10 0.00 69.15 0.484 10786 0.142 0.000 2902 1810 1621 1772 1470 0 0 0 0 0 0 26.15 28.83 26.20

6087 end climb: SURFACE_DEPTH_REACHED

state 6087 begin surface coast

6104 end surface coast: CONTROL_FINISHED_OK

state 6104 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	60	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	54	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	50	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	200	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	70	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	115	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	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	1800	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	205	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	215	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	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	106.0
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	5
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	040921,180231,4751.3813,-12509.3730,13,0.8,41,15.7,0.2,0.0,11,1.5	SPEED_LIMITS	0.165,0.230
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4747.975,-12513.804
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.30	MHEAD_RNG_PITCHd_Wd	197.9,8404,-17.2,-9.524,-22.49,1865
_SM_ANGLEo	-51.5	D_GRID	222
GPS2	040921,180849,4751.4233,-12509.4121,3,0.7,5,15.7,0.9,279.6,12,4.4

FINISH	-0.5,1.013594	CP_POWER1	0.000000
SM_CCo	6297,-0.20,0.233,0,0,550,551.92	_24V_AH	24.34,13.328
SM_GC	0.31,7.68,0.28,-0.20,0.057,0.049,0.233,165,1998,550,-7.40,-1.39,551.92,0,0,0,0,0,0,25.88,25.83,25.29	_10V_AH	10.27,7.525
IRIDIUM_FIX	4754.91,-12604.00,040921,161303	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.146055	FG_AHR_10Vo	0.000
HUMID	53.18	MEM	211620
INTERNAL_PRESSURE	8.7185	DATA_FILE_SIZE	43439,822
TCM_TEMP	15.30	CAP_FILE_SIZE	99472,0
XPDR_PINGS	0	CFSIZE	260030464,245755904
ALTIM_BOTTOM_PING	180.9,19.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	119885660160.000000	CURRENT	0.049,21.49,1
CP_POWER	328.190000	GPS	040921,195601,4751.286,-12509.556,6,0.8,27,15.7,0.8,31.4,9,2.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	95.52	SBE_CT	509	64	798.52
Roll_motor	25	71	43.72	WL_blue_red_Chl	1610	37	1467.91
VBD_pump_during_apogee	649	638	10102.95	nil	0	0	0.00
VBD_pump_during_surface	160	630	2467.92	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	6134	25	3732.54
Iridium_during_xfer	245	104	627.15	nil	0	0	0.00
Transponder_ping	1	420	10.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.27
TT8	1824	12	228.95
LPSleep	1718	2	38.64
TT8_Active	800	12	100.50
TT8_Sampling	2046	37	792.16
TT8_CF8	326	42	144.13
TT8_Kalman	0	0	0.00
Analog_circuits	1847	11	208.66
GPS_charging	0	0	0.00
Compass	1873	8	158.58
RAFOS	0	0	0.00
Transponder	10	30	3.11

		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	-0.75	-116.8	164	1993	693	405	0.0	0.0	0	139	0.00	0.00	-111.88	0.010	16386	0.000	0.000	164	1989	3139	3129	3150	0	0	0	0	0	0	26.10	28.83	26.17
142	-0.75	-116.8	164	1989	3129	3150	4.3	-9.4	16	159	8.30	1.08	-2.88	0.030	18980	0.221	0.071	2339	1303	3279	3282	3276	0	0	0	0	0	0	25.81	24.82	26.10
346	-0.75	-116.8	2339	1303	3291	3274	39.5	-11.5	54	353	0.00	1.05	0.00	0.000	1030	0.000	0.037	2336	1998	3282	3290	3274	0	0	0	0	0	0	26.35	26.34	26.37
481	-0.75	-116.8	2335	1998	3293	3274	59.1	-15.0	79	489	0.00	1.02	0.00	0.000	260	0.000	0.044	2331	2694	3283	3293	3274	0	0	0	0	0	0	26.45	26.35	26.51
678	-0.75	-116.8	2330	2694	3295	3274	80.7	-9.7	115	685	0.00	1.02	0.00	0.000	1030	0.000	0.032	2334	1977	3284	3295	3274	0	0	0	0	0	0	26.51	26.49	26.51
811	-0.75	-116.8	2333	1977	3295	3273	94.1	-9.8	140	819	0.00	0.98	0.00	0.000	516	0.000	0.040	2339	1316	3284	3295	3273	0	0	0	0	0	0	26.59	26.48	26.66
882	-0.75	-116.8	2338	1316	3295	3273	101.5	-9.8	153	890	0.00	1.02	0.00	0.000	1030	0.000	0.036	2335	2003	3284	3295	3273	0	0	0	0	0	0	26.54	26.51	26.55
1009	-0.75	-116.8	2335	2003	3296	3272	114.5	-11.0	166	1013	0.00	1.00	0.00	0.000	260	0.000	0.044	2331	2690	3284	3296	3272	0	0	0	0	0	0	26.59	26.53	26.66
1103	-0.75	-116.8	2330	2690	3296	3272	125.1	-11.0	184	1108	0.00	0.98	0.00	0.000	1030	0.000	0.031	2333	2001	3284	3296	3272	0	0	0	0	0	0	26.60	26.58	26.61
1236	-0.75	-116.8	2333	2000	3296	3272	139.2	-10.6	198	1240	0.00	1.00	0.00	0.000	516	0.000	0.048	2339	1321	3284	3296	3272	0	0	0	0	0	0	26.67	26.56	26.72
1309	-0.75	-116.8	2338	1321	3296	3272	147.2	-11.0	212	1314	0.00	1.02	0.00	0.000	1030	0.000	0.037	2336	2007	3284	3296	3272	0	0	0	0	0	0	26.61	26.58	26.64
1442	-0.75	-116.8	2335	2008	3296	3271	161.4	-10.7	226	1445	0.00	1.02	0.00	0.000	516	0.000	0.040	2339	1321	3283	3296	3271	0	0	0	0	0	0	26.68	26.58	26.72
1498	-0.75	-116.8	2338	1321	3296	3271	167.8	-10.6	237	1505	0.00	1.02	0.00	0.000	1030	0.000	0.037	2336	2007	3283	3296	3271	0	0	0	0	0	0	26.67	26.60	26.66
1629	-0.75	-116.8	2335	2007	3296	3270	180.9	-10.4	250	1633	0.00	1.02	0.00	0.000	516	0.000	0.039	2339	1321	3283	3296	3270	0	0	0	0	0	0	26.67	26.60	26.74
1672	-0.75	-116.8	2338	1321	3296	3270	185.8	-10.1	258	1676	0.00	1.02	0.00	0.000	1030	0.000	0.036	2336	2009	3283	3296	3270	0	0	0	0	0	0	26.65	26.62	26.67
1772	end dive: BOTTOM_OBSTACLE_DETECTED
state	1773	begin apogee
1778	-0.18	0.0	2335	1782	3297	3269	196.0	-9.5	269	1984	0.60	0.00	200.93	0.545	10246	0.153	0.000	2519	1782	2798	2856	2741	0	0	0	0	0	0	26.29	25.22	24.80
1990	end apogee: CONTROL_FINISHED_OK
state	1990	begin loiter
2115	-0.18	0.0	2518	1782	2835	2726	204.5	-0.8	302	2117	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2780	2835	2726	0	0	0	0	0	0	25.96	26.03	26.01
2235	-0.18	0.0	2518	1782	2834	2726	205.3	-0.3	314	2237	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2780	2834	2726	0	0	0	0	0	0	26.16	26.22	26.22
2355	-0.18	0.0	2518	1782	2833	2726	205.3	0.1	326	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2779	2833	2726	0	0	0	0	0	0	26.27	26.36	26.35
2475	-0.18	0.0	2518	1782	2832	2726	205.4	-0.1	338	2477	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2779	2832	2726	0	0	0	0	0	0	26.37	26.44	26.44
2595	-0.18	0.0	2518	1782	2832	2726	205.4	-0.0	350	2597	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1782	2779	2832	2726	0	0	0	0	0	0	26.44	26.51	26.50
2715	-0.18	0.0	2517	1782	2832	2725	205.4	-0.1	362	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2778	2831	2726	0	0	0	0	0	0	26.50	26.57	26.56
2835	-0.18	0.0	2518	1782	2831	2725	205.3	0.0	374	2837	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2778	2831	2725	0	0	0	0	0	0	26.53	26.59	26.60
2955	-0.18	0.0	2518	1782	2830	2725	205.4	0.1	386	2957	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2778	2831	2725	0	0	0	0	0	0	26.57	26.64	26.63
3075	-0.18	0.0	2518	1782	2831	2725	205.3	0.1	398	3077	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2778	2831	2725	0	0	0	0	0	0	26.61	26.67	26.67
3195	-0.18	0.0	2518	1782	2830	2725	205.4	-0.0	410	3197	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2778	2831	2725	0	0	0	0	0	0	26.63	26.70	26.69
3315	-0.18	0.0	2518	1782	2830	2725	205.4	-0.1	422	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2777	2830	2725	0	0	0	0	0	0	26.67	26.72	26.70
3435	-0.18	0.0	2517	1782	2830	2724	205.3	0.0	434	3437	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1782	2777	2830	2724	0	0	0	0	0	0	26.67	26.77	26.73
3555	-0.18	0.0	2518	1782	2830	2725	205.3	-0.2	446	3557	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2777	2830	2725	0	0	0	0	0	0	26.68	26.74	26.74
3675	-0.18	0.0	2518	1782	2830	2724	205.3	0.1	458	3677	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1782	2777	2830	2724	0	0	0	0	0	0	26.70	26.74	26.74
3783	end loiter: LOITER_COMPLETE
state	3783	begin climb
3785	0.75	116.8	2518	1782	2829	2724	205.4	0.0	469	3987	0.93	0.00	194.27	0.549	10758	0.121	0.000	2820	1782	2320	2444	2197	0	0	0	0	0	0	26.45	25.25	24.84
4108	0.78	135.4	2819	1782	2410	2163	187.8	8.5	516	4128	0.00	1.15	15.60	0.639	8484	0.000	0.044	2817	2503	2245	2374	2116	0	0	0	0	0	0	25.89	25.63	25.15
4259	0.80	151.7	2816	2502	2354	2097	174.1	8.6	545	4287	0.05	1.02	20.05	0.623	11302	0.134	0.036	2836	1813	2174	2308	2041	0	0	0	0	0	0	25.86	26.03	25.22
4409	0.80	151.7	2835	1813	2294	2028	159.3	10.6	562	4417	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	1813	2161	2294	2028	0	0	0	0	0	0	26.15	26.21	26.20
4536	0.80	151.7	2835	1813	2292	2028	145.5	10.8	575	4544	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	1813	2160	2292	2028	0	0	0	0	0	0	26.22	26.30	26.29
4668	0.80	151.7	2835	1813	2290	2028	132.2	9.8	588	4672	0.00	1.02	0.00	0.000	260	0.000	0.044	2833	2485	2159	2290	2028	0	0	0	0	0	0	26.39	26.27	26.44
4721	0.80	152.3	2832	2486	2288	2028	127.0	9.5	598	4726	0.00	1.00	0.00	0.000	1062	0.000	0.037	2836	1810	2158	2289	2027	0	0	0	0	0	0	26.36	26.34	26.37
4854	0.80	152.3	2835	1810	2288	2027	114.1	9.8	612	4856	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	1809	2157	2288	2027	0	0	0	0	0	0	26.47	26.54	26.53
4974	0.80	152.3	2835	1809	2287	2028	102.6	10.0	624	4977	0.00	1.02	0.00	0.000	260	0.000	0.043	2833	2487	2157	2287	2027	0	0	0	0	0	0	26.52	26.41	26.58
5073	0.80	152.3	2832	2488	2286	2027	92.4	10.1	643	5080	0.00	1.02	0.00	0.000	1030	0.000	0.037	2836	1792	2156	2286	2027	0	0	0	0	0	0	26.50	26.47	26.52
5212	0.80	152.3	2836	1791	2286	2028	78.1	11.1	668	5220	0.00	1.05	0.00	0.000	516	0.000	0.047	2841	1109	2157	2286	2028	0	0	0	0	0	0	26.56	26.47	26.63
5453	0.90	241.6	2841	1109	2285	2027	59.0	4.6	713	5609	0.10	1.02	149.80	0.504	11302	0.151	0.035	2873	1795	1816	1961	1672	0	0	0	0	0	0	26.30	26.51	24.98
5736	0.90	241.6	2872	1795	1931	1641	33.6	9.8	759	5743	0.00	1.08	0.00	0.000	260	0.000	0.046	2870	2496	1786	1931	1641	0	0	0	0	0	0	26.02	25.87	26.08
5876	0.91	248.2	2869	2496	1926	1640	18.8	9.2	784	5884	0.00	1.02	0.00	0.000	1062	0.000	0.038	2873	1811	1783	1926	1640	0	0	0	0	0	0	26.12	26.08	26.15
6014	0.97	295.9	2872	1811	1925	1638	7.6	6.9	809	6086	0.10	0.00	69.15	0.484	10786	0.142	0.000	2902	1810	1621	1772	1470	0	0	0	0	0	0	26.15	28.83	26.20
6087	end climb: SURFACE_DEPTH_REACHED
state	6087	begin surface coast
6104	end surface coast: CONTROL_FINISHED_OK
state	6104	begin surface