Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 68 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 110

DIVE 68 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 55 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 56 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 5

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FLARE 3 SM_CC 541.92499 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 700 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 230 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 260 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -1 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 97.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 83.800003 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 160 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 -171.33574 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 135.0

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 10

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 83.800003 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 97.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 110 D_TGT 700 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 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 230

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 260

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.33574 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 135.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -1

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 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 160 R_PORT_OVSHOOT 55 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 56 XPDR_INHIBIT 90

DIVE 68 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 9 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 190921,120501,4757.4512,-12526.4004,33,0.9,34,15.7,0.9,180.1,9,5.1 SPEED_LIMITS 0.176,0.267

_CALLS 1 TGT_NAME HOLD

_XMS_NAKs 0 TGT_LATLONG 4757.460,-12527.830

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.53 MHEAD_RNG_PITCHd_Wd 278.4,1693,-15.4,-10.145,-20.78,2331

_SM_ANGLEo -60.3 D_GRID 223

GPS2 190921,121147,4757.3843,-12526.4697,5,0.6,7,15.7,1.6,253.5,12,5.0

Post-dive calculations and measurements:

FINISH -0.2,1.025266 _24V_AH 24.38,8.993

SM_CCo 4587,152.02,0.620,1,0,588,542.11 _10V_AH 10.16,4.232

SM_GC 0.49,7.45,0.28,152.02,0.050,0.042,0.620,172,2026,588,-7.40,-1.36,542.11,0,0,0,0,1,0,26.18,26.18,24.42 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4755.16,-12524.79,190921,095626 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.147553 MEM 153144

HUMID 53.58 DATA_FILE_SIZE 36832,692

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 86529,0

TCM_TEMP 15.30 CFSIZE 260030464,245657600

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

CP_FREE 94918115328.000000 CURRENT 0.135,208.21,1

CP_POWER 421.650000 GPS 190921,133242,4757.174,-12527.285,2,0.8,4,15.7,0.7,153.1,11,6.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 224 96.72 SBE_CT 391 64 614.72

Roll_motor 29 73 53.67 WL_blue_red_Chl 1246 37 1137.96

VBD_pump_during_apogee 678 618 10220.69 nil 0 0 0.00

VBD_pump_during_surface 152 620 2299.49 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 4347 25 2649.50

Iridium_during_xfer 262 108 696.00 nil 0 0 0.00

Transponder_ping 2 420 28.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.37

TT8 1439 12 178.72

LPSleep 928 2 20.66

TT8_Active 794 12 98.64

TT8_Sampling 1748 37 669.37

TT8_CF8 276 42 120.57

TT8_Kalman 0 0 0.00

Analog_circuits 1785 11 199.56

GPS_charging 0 0 0.00

Compass 1518 8 127.15

RAFOS 0 0 0.00

Transponder 18 30 5.78

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 -0.74 -155.7 166 2015 725 448 0.0 0.0 0 134 0.00 0.00 -105.22 0.015 16386 0.000 0.000 166 2015 3050 3034 3067 0 0 0 0 0 0 26.14 28.83 26.21

136 -0.74 -155.7 165 2014 3036 3066 4.6 -9.1 15 160 8.45 1.12 -7.57 0.019 18980 0.224 0.073 2343 1298 3437 3432 3443 0 0 0 0 0 0 25.55 24.38 25.74

392 -0.74 -155.7 2342 1298 3440 3442 53.5 -15.1 63 400 0.00 1.05 0.00 0.000 1030 0.000 0.038 2340 1990 3440 3440 3441 0 0 0 0 0 0 26.27 26.25 26.25

531 -0.74 -155.7 2339 1990 3441 3440 72.5 -13.9 88 539 0.00 1.02 0.00 0.000 516 0.000 0.041 2343 1309 3440 3441 3440 0 0 0 0 0 0 26.35 26.32 26.39

725 -0.74 -155.7 2342 1309 3443 3440 97.2 -10.8 125 734 0.00 1.05 0.00 0.000 1030 0.000 0.038 2339 2006 3441 3443 3439 0 0 0 0 0 0 26.44 26.39 26.47

862 -0.74 -155.7 2339 2007 3443 3439 110.5 -9.5 140 866 0.00 1.02 0.00 0.000 292 0.000 0.044 2334 2698 3441 3443 3439 0 0 0 0 0 0 26.54 26.41 26.60

928 -0.74 -155.7 2333 2698 3444 3439 117.8 -10.5 153 937 0.00 1.02 0.00 0.000 1030 0.000 0.031 2337 1977 3441 3444 3439 0 0 0 0 0 0 26.51 26.48 26.55

1057 -0.74 -155.7 2337 1977 3443 3439 130.9 -10.9 166 1063 0.00 0.98 0.00 0.000 516 0.000 0.048 2342 1319 3441 3444 3439 0 0 0 0 0 0 26.62 26.43 26.67

1230 -0.74 -155.7 2341 1319 3444 3439 149.6 -10.3 198 1234 0.00 1.02 0.00 0.000 1030 0.000 0.037 2339 2004 3441 3444 3438 0 0 0 0 0 0 26.51 26.47 26.47

1363 -0.74 -155.7 2338 2004 3444 3438 162.8 -10.4 212 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2004 3441 3444 3438 0 0 0 0 0 0 26.63 26.69 26.68

1493 -0.74 -155.7 2339 2004 3444 3437 175.8 -10.1 225 1498 0.00 1.02 0.00 0.000 548 0.000 0.041 2343 1320 3440 3444 3437 0 0 0 0 0 0 26.47 26.44 26.53

1537 -0.74 -155.7 2342 1319 3444 3437 180.3 -9.6 233 1541 0.00 1.02 0.00 0.000 1062 0.000 0.044 2339 2004 3440 3444 3437 0 0 0 0 0 0 26.51 26.47 26.54

1670 -0.74 -155.7 2339 2004 3444 3437 193.8 -10.2 247 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2004 3441 3445 3437 0 0 0 0 0 0 26.57 26.65 26.63

1801 -0.74 -155.7 2339 2004 3445 3437 206.9 -9.6 260 1805 0.00 1.02 0.00 0.000 548 0.000 0.046 2342 1321 3440 3444 3437 0 0 0 0 0 0 26.67 26.46 26.71

1887 -0.74 -155.7 2342 1319 3444 3437 215.5 -9.6 276 1891 0.00 1.02 0.00 0.000 1062 0.000 0.044 2339 2000 3441 3445 3437 0 0 0 0 0 0 26.46 26.42 26.48

1967 end dive: TARGET_DEPTH_EXCEEDED

state 1967 begin apogee

1972 -0.18 0.0 2339 1788 3444 3436 223.5 -9.9 285 2230 0.60 0.00 251.70 0.580 10246 0.146 0.000 2522 1788 2797 2860 2735 0 0 0 0 0 0 25.96 25.06 24.53

2235 end apogee: CONTROL_FINISHED_OK

state 2235 begin climb

2237 0.74 155.7 2522 1788 2851 2725 229.3 0.0 311 2488 0.98 1.08 243.70 0.538 10756 0.120 0.037 2822 1121 2162 2301 2024 0 0 0 0 0 0 25.17 24.95 24.39

2737 0.74 155.7 2822 1121 2263 1999 184.2 11.3 406 2744 0.00 1.05 0.00 0.000 1030 0.000 0.035 2819 1802 2130 2263 1997 0 0 0 0 0 0 26.04 26.03 26.08

2864 0.74 155.7 2819 1802 2262 1996 169.2 11.9 419 2868 0.00 1.05 0.00 0.000 260 0.000 0.044 2814 2492 2129 2262 1996 0 0 0 0 0 0 26.15 26.14 26.23

2948 0.74 155.7 2813 2492 2260 1996 160.0 11.0 435 2952 0.00 0.98 0.00 0.000 1030 0.000 0.038 2818 1830 2128 2260 1996 0 0 0 0 0 0 26.25 26.20 26.28

3083 0.75 167.1 2817 1830 2259 1996 146.7 9.6 449 3090 0.00 0.00 0.00 0.000 38 0.000 0.000 2818 1830 2127 2259 1996 0 0 0 0 0 0 26.41 26.48 26.46

3211 0.76 179.4 2817 1830 2258 1995 134.4 9.6 462 3242 0.00 1.12 23.05 0.618 8740 0.000 0.042 2823 1103 2058 2197 1920 0 0 0 0 0 0 26.43 25.65 25.27

3288 0.78 191.3 2822 1103 2177 1906 127.1 9.6 476 3299 0.00 1.08 2.33 0.383 9254 0.000 0.042 2820 1808 2026 2167 1886 0 0 0 0 0 0 26.19 26.16 24.62

3418 0.80 205.4 2819 1809 2176 1889 114.6 9.5 490 3454 0.10 1.12 28.48 0.598 10788 0.222 0.049 2845 1106 1956 2096 1816 0 0 0 0 0 0 25.94 25.77 25.15

3515 0.80 205.4 2845 1106 2071 1800 104.1 11.5 506 3520 0.00 1.08 0.00 0.000 1030 0.000 0.036 2841 1806 1935 2071 1800 0 0 0 0 0 0 26.11 26.07 26.10

3644 0.80 205.4 2841 1806 2069 1798 88.8 12.4 528 3652 0.00 1.05 0.00 0.000 260 0.000 0.054 2837 2496 1933 2069 1798 0 0 0 0 0 0 26.34 26.10 26.34

3746 0.80 211.8 2836 2496 2067 1797 77.1 9.9 547 3753 0.00 1.02 0.00 0.000 1062 0.000 0.046 2840 1808 1932 2067 1798 0 0 0 0 0 0 26.30 26.28 26.32

3881 0.83 231.5 2839 1808 2066 1797 65.3 9.3 572 3917 0.00 1.12 30.38 0.565 8740 0.000 0.051 2845 1104 1851 1993 1709 0 0 0 0 0 0 26.42 25.78 25.18

3950 0.83 231.5 2845 1103 1965 1690 57.7 11.2 583 3958 0.00 1.08 0.00 0.000 1030 0.000 0.034 2842 1807 1827 1965 1690 0 0 0 0 0 0 26.13 26.10 26.15

4088 0.83 233.1 2841 1808 1962 1686 43.4 10.1 608 4096 0.00 1.02 0.00 0.000 292 0.000 0.048 2837 2487 1824 1962 1687 0 0 0 0 0 0 26.27 26.13 26.27

4109 0.85 250.5 2836 2487 1963 1686 41.4 9.4 611 4133 0.03 1.02 17.33 0.574 11302 0.196 0.037 2848 1794 1774 1916 1633 0 0 0 0 0 0 26.06 26.24 25.17

4259 0.90 294.9 2847 1794 1894 1611 28.0 8.2 638 4330 0.10 1.12 64.65 0.516 10532 0.172 0.051 2871 2493 1592 1735 1450 0 0 0 0 0 0 25.98 25.53 24.93

4410 0.93 314.5 2870 2494 1707 1420 14.1 9.3 663 4433 0.00 1.05 16.62 0.535 9254 0.000 0.037 2874 1803 1515 1662 1368 0 0 0 0 0 0 25.98 25.95 24.89

4546 end climb: SURFACE_DEPTH_REACHED

state 4546 begin surface coast

4568 end surface coast: CONTROL_FINISHED_OK

state 4568 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	110
DIVE	68	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	55	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	56	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	5
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FLARE	3	SM_CC	541.92499	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	700	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	230	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	260	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-1	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	97.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	83.800003	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	160	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	-171.33574	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	135.0
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	10
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	190921,120501,4757.4512,-12526.4004,33,0.9,34,15.7,0.9,180.1,9,5.1	SPEED_LIMITS	0.176,0.267
_CALLS	1	TGT_NAME	HOLD
_XMS_NAKs	0	TGT_LATLONG	4757.460,-12527.830
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.53	MHEAD_RNG_PITCHd_Wd	278.4,1693,-15.4,-10.145,-20.78,2331
_SM_ANGLEo	-60.3	D_GRID	223
GPS2	190921,121147,4757.3843,-12526.4697,5,0.6,7,15.7,1.6,253.5,12,5.0

FINISH	-0.2,1.025266	_24V_AH	24.38,8.993
SM_CCo	4587,152.02,0.620,1,0,588,542.11	_10V_AH	10.16,4.232
SM_GC	0.49,7.45,0.28,152.02,0.050,0.042,0.620,172,2026,588,-7.40,-1.36,542.11,0,0,0,0,1,0,26.18,26.18,24.42	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4755.16,-12524.79,190921,095626	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.147553	MEM	153144
HUMID	53.58	DATA_FILE_SIZE	36832,692
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	86529,0
TCM_TEMP	15.30	CFSIZE	260030464,245657600
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	94918115328.000000	CURRENT	0.135,208.21,1
CP_POWER	421.650000	GPS	190921,133242,4757.174,-12527.285,2,0.8,4,15.7,0.7,153.1,11,6.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	224	96.72	SBE_CT	391	64	614.72
Roll_motor	29	73	53.67	WL_blue_red_Chl	1246	37	1137.96
VBD_pump_during_apogee	678	618	10220.69	nil	0	0	0.00
VBD_pump_during_surface	152	620	2299.49	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	4347	25	2649.50
Iridium_during_xfer	262	108	696.00	nil	0	0	0.00
Transponder_ping	2	420	28.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.37
TT8	1439	12	178.72
LPSleep	928	2	20.66
TT8_Active	794	12	98.64
TT8_Sampling	1748	37	669.37
TT8_CF8	276	42	120.57
TT8_Kalman	0	0	0.00
Analog_circuits	1785	11	199.56
GPS_charging	0	0	0.00
Compass	1518	8	127.15
RAFOS	0	0	0.00
Transponder	18	30	5.78

		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	-0.74	-155.7	166	2015	725	448	0.0	0.0	0	134	0.00	0.00	-105.22	0.015	16386	0.000	0.000	166	2015	3050	3034	3067	0	0	0	0	0	0	26.14	28.83	26.21
136	-0.74	-155.7	165	2014	3036	3066	4.6	-9.1	15	160	8.45	1.12	-7.57	0.019	18980	0.224	0.073	2343	1298	3437	3432	3443	0	0	0	0	0	0	25.55	24.38	25.74
392	-0.74	-155.7	2342	1298	3440	3442	53.5	-15.1	63	400	0.00	1.05	0.00	0.000	1030	0.000	0.038	2340	1990	3440	3440	3441	0	0	0	0	0	0	26.27	26.25	26.25
531	-0.74	-155.7	2339	1990	3441	3440	72.5	-13.9	88	539	0.00	1.02	0.00	0.000	516	0.000	0.041	2343	1309	3440	3441	3440	0	0	0	0	0	0	26.35	26.32	26.39
725	-0.74	-155.7	2342	1309	3443	3440	97.2	-10.8	125	734	0.00	1.05	0.00	0.000	1030	0.000	0.038	2339	2006	3441	3443	3439	0	0	0	0	0	0	26.44	26.39	26.47
862	-0.74	-155.7	2339	2007	3443	3439	110.5	-9.5	140	866	0.00	1.02	0.00	0.000	292	0.000	0.044	2334	2698	3441	3443	3439	0	0	0	0	0	0	26.54	26.41	26.60
928	-0.74	-155.7	2333	2698	3444	3439	117.8	-10.5	153	937	0.00	1.02	0.00	0.000	1030	0.000	0.031	2337	1977	3441	3444	3439	0	0	0	0	0	0	26.51	26.48	26.55
1057	-0.74	-155.7	2337	1977	3443	3439	130.9	-10.9	166	1063	0.00	0.98	0.00	0.000	516	0.000	0.048	2342	1319	3441	3444	3439	0	0	0	0	0	0	26.62	26.43	26.67
1230	-0.74	-155.7	2341	1319	3444	3439	149.6	-10.3	198	1234	0.00	1.02	0.00	0.000	1030	0.000	0.037	2339	2004	3441	3444	3438	0	0	0	0	0	0	26.51	26.47	26.47
1363	-0.74	-155.7	2338	2004	3444	3438	162.8	-10.4	212	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2338	2004	3441	3444	3438	0	0	0	0	0	0	26.63	26.69	26.68
1493	-0.74	-155.7	2339	2004	3444	3437	175.8	-10.1	225	1498	0.00	1.02	0.00	0.000	548	0.000	0.041	2343	1320	3440	3444	3437	0	0	0	0	0	0	26.47	26.44	26.53
1537	-0.74	-155.7	2342	1319	3444	3437	180.3	-9.6	233	1541	0.00	1.02	0.00	0.000	1062	0.000	0.044	2339	2004	3440	3444	3437	0	0	0	0	0	0	26.51	26.47	26.54
1670	-0.74	-155.7	2339	2004	3444	3437	193.8	-10.2	247	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2004	3441	3445	3437	0	0	0	0	0	0	26.57	26.65	26.63
1801	-0.74	-155.7	2339	2004	3445	3437	206.9	-9.6	260	1805	0.00	1.02	0.00	0.000	548	0.000	0.046	2342	1321	3440	3444	3437	0	0	0	0	0	0	26.67	26.46	26.71
1887	-0.74	-155.7	2342	1319	3444	3437	215.5	-9.6	276	1891	0.00	1.02	0.00	0.000	1062	0.000	0.044	2339	2000	3441	3445	3437	0	0	0	0	0	0	26.46	26.42	26.48
1967	end dive: TARGET_DEPTH_EXCEEDED
state	1967	begin apogee
1972	-0.18	0.0	2339	1788	3444	3436	223.5	-9.9	285	2230	0.60	0.00	251.70	0.580	10246	0.146	0.000	2522	1788	2797	2860	2735	0	0	0	0	0	0	25.96	25.06	24.53
2235	end apogee: CONTROL_FINISHED_OK
state	2235	begin climb
2237	0.74	155.7	2522	1788	2851	2725	229.3	0.0	311	2488	0.98	1.08	243.70	0.538	10756	0.120	0.037	2822	1121	2162	2301	2024	0	0	0	0	0	0	25.17	24.95	24.39
2737	0.74	155.7	2822	1121	2263	1999	184.2	11.3	406	2744	0.00	1.05	0.00	0.000	1030	0.000	0.035	2819	1802	2130	2263	1997	0	0	0	0	0	0	26.04	26.03	26.08
2864	0.74	155.7	2819	1802	2262	1996	169.2	11.9	419	2868	0.00	1.05	0.00	0.000	260	0.000	0.044	2814	2492	2129	2262	1996	0	0	0	0	0	0	26.15	26.14	26.23
2948	0.74	155.7	2813	2492	2260	1996	160.0	11.0	435	2952	0.00	0.98	0.00	0.000	1030	0.000	0.038	2818	1830	2128	2260	1996	0	0	0	0	0	0	26.25	26.20	26.28
3083	0.75	167.1	2817	1830	2259	1996	146.7	9.6	449	3090	0.00	0.00	0.00	0.000	38	0.000	0.000	2818	1830	2127	2259	1996	0	0	0	0	0	0	26.41	26.48	26.46
3211	0.76	179.4	2817	1830	2258	1995	134.4	9.6	462	3242	0.00	1.12	23.05	0.618	8740	0.000	0.042	2823	1103	2058	2197	1920	0	0	0	0	0	0	26.43	25.65	25.27
3288	0.78	191.3	2822	1103	2177	1906	127.1	9.6	476	3299	0.00	1.08	2.33	0.383	9254	0.000	0.042	2820	1808	2026	2167	1886	0	0	0	0	0	0	26.19	26.16	24.62
3418	0.80	205.4	2819	1809	2176	1889	114.6	9.5	490	3454	0.10	1.12	28.48	0.598	10788	0.222	0.049	2845	1106	1956	2096	1816	0	0	0	0	0	0	25.94	25.77	25.15
3515	0.80	205.4	2845	1106	2071	1800	104.1	11.5	506	3520	0.00	1.08	0.00	0.000	1030	0.000	0.036	2841	1806	1935	2071	1800	0	0	0	0	0	0	26.11	26.07	26.10
3644	0.80	205.4	2841	1806	2069	1798	88.8	12.4	528	3652	0.00	1.05	0.00	0.000	260	0.000	0.054	2837	2496	1933	2069	1798	0	0	0	0	0	0	26.34	26.10	26.34
3746	0.80	211.8	2836	2496	2067	1797	77.1	9.9	547	3753	0.00	1.02	0.00	0.000	1062	0.000	0.046	2840	1808	1932	2067	1798	0	0	0	0	0	0	26.30	26.28	26.32
3881	0.83	231.5	2839	1808	2066	1797	65.3	9.3	572	3917	0.00	1.12	30.38	0.565	8740	0.000	0.051	2845	1104	1851	1993	1709	0	0	0	0	0	0	26.42	25.78	25.18
3950	0.83	231.5	2845	1103	1965	1690	57.7	11.2	583	3958	0.00	1.08	0.00	0.000	1030	0.000	0.034	2842	1807	1827	1965	1690	0	0	0	0	0	0	26.13	26.10	26.15
4088	0.83	233.1	2841	1808	1962	1686	43.4	10.1	608	4096	0.00	1.02	0.00	0.000	292	0.000	0.048	2837	2487	1824	1962	1687	0	0	0	0	0	0	26.27	26.13	26.27
4109	0.85	250.5	2836	2487	1963	1686	41.4	9.4	611	4133	0.03	1.02	17.33	0.574	11302	0.196	0.037	2848	1794	1774	1916	1633	0	0	0	0	0	0	26.06	26.24	25.17
4259	0.90	294.9	2847	1794	1894	1611	28.0	8.2	638	4330	0.10	1.12	64.65	0.516	10532	0.172	0.051	2871	2493	1592	1735	1450	0	0	0	0	0	0	25.98	25.53	24.93
4410	0.93	314.5	2870	2494	1707	1420	14.1	9.3	663	4433	0.00	1.05	16.62	0.535	9254	0.000	0.037	2874	1803	1515	1662	1368	0	0	0	0	0	0	25.98	25.95	24.89
4546	end climb: SURFACE_DEPTH_REACHED
state	4546	begin surface coast
4568	end surface coast: CONTROL_FINISHED_OK
state	4568	begin surface