Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 72 * 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 72 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 45 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 260 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 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 95 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 3600 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 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 130.0

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 20

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 20 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 260 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 80

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 95

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 130.0 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 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 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 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 45 XPDR_INHIBIT 90

DIVE 72 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 050921,185309,4751.3677,-12510.1143,8,0.7,18,15.7,0.4,202.9,12,3.1 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.53 MHEAD_RNG_PITCHd_Wd 136.2,2520,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -63.4 D_GRID 240

GPS2 050921,190005,4751.3535,-12510.1055,3,0.7,6,15.7,0.6,87.8,12,6.2

Post-dive calculations and measurements:

FINISH -0.4,1.025567 CP_POWER1 0.000000

SM_CCo 4475,-0.12,0.373,0,0,548,551.68 _24V_AH 23.87,14.774

SM_GC 0.49,7.78,0.32,-0.12,0.060,0.046,0.373,174,2027,548,-7.41,-1.07,551.68,0,0,0,0,0,0,25.83,25.79,25.25 _10V_AH 10.27,8.439

IRIDIUM_FIX 4752.18,-12506.88,050921,164439 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.149051 FG_AHR_10Vo 0.000

HUMID 52.91 MEM 211288

INTERNAL_PRESSURE 8.7185 DATA_FILE_SIZE 33579,624

TCM_TEMP 15.10 CAP_FILE_SIZE 82909,0

XPDR_PINGS 0 CFSIZE 260030464,244699136

ALTIM_BOTTOM_PING 181.0,55.9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 117710684160.000000 CURRENT 0.064,6.58,1

CP_POWER 328.190000 GPS 050921,201701,4751.163,-12509.859,30,0.9,37,15.7,0.8,144.5,10,5.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 214 92.49 SBE_CT 373 64 574.43

Roll_motor 27 97 64.18 WL_blue_red_Chl 1186 37 1060.96

VBD_pump_during_apogee 545 758 9879.17 nil 0 0 0.00

VBD_pump_during_surface 189 2948 13308.13 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 4100 25 2446.68

Iridium_during_xfer 275 106 698.52 nil 0 0 0.00

Transponder_ping 0 420 7.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.33

TT8 1386 12 174.05

LPSleep 907 2 20.42

TT8_Active 734 12 92.20

TT8_Sampling 1630 37 631.18

TT8_CF8 267 42 118.10

TT8_Kalman 0 0 0.00

Analog_circuits 1657 11 187.28

GPS_charging 0 0 0.00

Compass 1396 8 118.15

RAFOS 0 0 0.00

Transponder 7 30 2.26

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 -0.84 -116.8 172 2013 693 407 0.0 0.0 0 133 0.00 0.00 -106.28 0.011 16386 0.000 0.000 171 2015 3053 3041 3066 0 0 0 0 0 0 26.10 28.83 26.16

136 -0.84 -116.8 170 2014 3042 3065 3.8 -7.5 15 154 8.20 1.08 -4.72 0.034 18724 0.215 0.078 2292 2700 3279 3280 3279 0 0 0 0 0 0 25.83 24.77 25.98

386 -0.84 -116.8 2291 2700 3290 3275 50.7 -13.8 62 394 0.05 1.02 0.00 0.000 3078 0.185 0.033 2305 1992 3283 3290 3276 0 0 0 0 0 0 26.13 26.36 26.22

526 -0.84 -116.8 2305 1992 3292 3274 69.3 -12.5 87 533 0.00 1.00 0.00 0.000 516 0.000 0.040 2310 1319 3283 3292 3274 0 0 0 0 0 0 26.50 26.39 26.55

749 -0.84 -116.8 2309 1319 3294 3274 96.5 -10.9 130 756 0.00 1.02 0.00 0.000 1030 0.000 0.097 2307 1992 3284 3294 3274 0 0 0 0 0 0 26.51 26.48 26.53

885 -0.84 -116.8 2307 1992 3294 3274 112.1 -11.3 146 887 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 1992 3284 3294 3274 0 0 0 0 0 0 26.62 26.67 26.67

1007 -0.84 -116.8 2307 1992 3294 3274 125.7 -11.6 158 1014 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 1991 3284 3295 3274 0 0 0 0 0 0 26.52 26.54 26.55

1135 -0.84 -116.8 2307 1992 3295 3274 140.6 -11.7 171 1137 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 1992 3284 3295 3274 0 0 0 0 0 0 26.60 26.65 26.64

1255 -0.84 -116.8 2307 1992 3295 3274 154.0 -10.9 183 1257 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 1992 3284 3295 3274 0 0 0 0 0 0 26.68 26.74 26.73

1377 -0.84 -116.8 2307 1992 3295 3274 167.8 -11.6 195 1381 0.00 1.00 0.00 0.000 516 0.000 0.039 2307 1321 3284 3295 3274 0 0 0 0 0 0 26.62 26.55 26.67

1478 -0.84 -116.8 2306 1321 3295 3274 179.7 -11.4 213 1482 0.00 1.02 0.00 0.000 1030 0.000 0.038 2304 1998 3284 3295 3274 0 0 0 0 0 0 26.58 26.54 26.59

1610 -0.84 -116.8 2303 1999 3295 3274 194.4 -11.1 227 1614 0.00 1.02 0.00 0.000 260 0.000 0.044 2298 2698 3284 3295 3274 0 0 0 0 0 0 26.72 26.59 26.77

1674 -0.84 -116.8 2298 2698 3294 3273 201.6 -11.4 239 1678 0.00 1.00 0.00 0.000 1030 0.000 0.033 2298 1999 3284 3295 3274 0 0 0 0 0 0 26.67 26.65 26.69

1805 end dive: BOTTOM_OBSTACLE_DETECTED

state 1805 begin apogee

1810 -0.18 0.0 2298 1783 3295 3273 217.9 -11.5 253 2007 0.75 0.00 187.98 0.567 10246 0.162 0.000 2521 1781 2794 2847 2741 0 0 0 0 0 0 26.27 25.11 24.80

2012 end apogee: CONTROL_FINISHED_OK

state 2012 begin climb

2014 0.84 116.8 2521 1780 2842 2738 222.8 0.0 273 2201 1.08 1.00 180.15 0.535 10756 0.116 0.041 2856 1135 2321 2443 2199 0 0 0 0 0 0 25.33 25.14 24.69

2267 0.86 129.9 2856 1135 2416 2183 204.3 10.0 320 2285 0.00 1.05 11.25 0.667 9254 0.000 0.039 2853 1802 2264 2389 2140 0 0 0 0 0 0 25.58 25.56 24.96

2406 0.86 129.9 2853 1803 2380 2134 190.0 11.1 335 2410 0.00 1.05 0.00 0.000 260 0.000 0.045 2848 2497 2256 2379 2134 0 0 0 0 0 0 25.94 25.87 25.99

2491 0.86 129.9 2847 2497 2378 2130 180.0 11.7 351 2495 0.00 1.00 0.00 0.000 1030 0.000 0.038 2851 1831 2254 2378 2130 0 0 0 0 0 0 26.06 26.05 26.08

2623 0.86 129.9 2851 1831 2377 2130 165.1 11.3 365 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 1830 2254 2377 2131 0 0 0 0 0 0 26.24 26.31 26.29

2753 0.86 132.9 2850 1831 2376 2130 150.9 10.6 378 2757 0.00 1.10 0.00 0.000 548 0.000 0.046 2857 1113 2253 2376 2130 0 0 0 0 0 0 26.34 26.27 26.40

2806 0.86 132.9 2856 1113 2376 2130 145.0 11.1 388 2810 0.00 1.05 0.00 0.000 1030 0.000 0.036 2853 1803 2253 2376 2130 0 0 0 0 0 0 26.35 26.32 26.37

2941 0.87 137.9 2853 1803 2375 2130 130.9 10.5 402 2945 0.00 1.02 0.00 0.000 292 0.000 0.044 2848 2494 2252 2375 2130 0 0 0 0 0 0 26.46 26.36 26.52

3006 0.87 141.3 2847 2494 2374 2130 123.5 10.6 415 3015 0.00 1.05 3.45 0.758 9254 0.000 0.037 2852 1789 2223 2350 2096 0 0 0 0 0 0 26.44 26.41 25.14

3136 0.88 144.6 2851 1789 2356 2097 110.5 10.6 428 3141 0.00 1.05 0.00 0.000 548 0.000 0.047 2858 1097 2226 2356 2097 0 0 0 0 0 0 26.48 26.39 26.54

3183 0.89 155.9 2857 1097 2356 2097 105.1 10.1 437 3211 0.00 1.08 20.12 0.605 9254 0.000 0.035 2853 1807 2157 2286 2028 0 0 0 0 0 0 26.46 26.44 25.54

3333 0.89 155.9 2853 1806 2278 2022 89.6 11.2 463 3340 0.00 1.02 0.00 0.000 260 0.000 0.045 2848 2495 2149 2277 2022 0 0 0 0 0 0 26.39 26.27 26.44

3385 0.89 155.9 2848 2495 2276 2021 83.5 11.9 472 3394 0.03 1.05 0.00 0.000 3078 0.183 0.037 2862 1787 2148 2276 2021 0 0 0 0 0 0 26.17 26.33 26.24

3521 0.89 157.9 2862 1787 2275 2021 69.2 10.7 497 3529 0.00 1.08 0.00 0.000 292 0.000 0.042 2859 2503 2148 2275 2021 0 0 0 0 0 0 26.41 26.37 26.50

3544 0.91 170.0 2859 2503 2274 2021 66.8 10.1 500 3561 0.00 1.02 9.35 0.628 9254 0.000 0.037 2863 1810 2102 2236 1969 0 0 0 0 0 0 26.44 26.41 25.60

3688 0.94 195.3 2862 1810 2227 1961 52.3 9.3 526 3731 0.10 1.12 33.17 0.545 10788 0.160 0.047 2897 1095 1994 2130 1858 0 0 0 0 0 0 26.24 25.94 25.42

3832 0.94 195.3 2897 1095 2120 1854 35.8 10.9 551 3839 0.00 1.08 0.00 0.000 1030 0.000 0.041 2894 1797 1987 2120 1854 0 0 0 0 0 0 26.20 26.17 26.22

3964 0.94 201.5 2893 1796 2120 1851 22.6 10.4 576 3972 0.00 1.05 0.00 0.000 292 0.000 0.045 2889 2502 1986 2120 1852 0 0 0 0 0 0 26.39 26.23 26.44

4123 1.02 268.9 2889 2503 2117 1849 9.7 6.6 605 4229 0.05 1.05 100.45 0.497 11298 0.113 0.040 2917 1791 1754 1900 1609 0 0 0 0 0 0 26.20 26.33 26.29

4229 end climb: SURFACE_DEPTH_REACHED

state 4230 begin surface coast

4254 end surface coast: CONTROL_FINISHED_OK

state 4254 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	72	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	45	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	260	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	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	95	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	3600	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	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	130.0
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	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	050921,185309,4751.3677,-12510.1143,8,0.7,18,15.7,0.4,202.9,12,3.1	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.53	MHEAD_RNG_PITCHd_Wd	136.2,2520,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-63.4	D_GRID	240
GPS2	050921,190005,4751.3535,-12510.1055,3,0.7,6,15.7,0.6,87.8,12,6.2

FINISH	-0.4,1.025567	CP_POWER1	0.000000
SM_CCo	4475,-0.12,0.373,0,0,548,551.68	_24V_AH	23.87,14.774
SM_GC	0.49,7.78,0.32,-0.12,0.060,0.046,0.373,174,2027,548,-7.41,-1.07,551.68,0,0,0,0,0,0,25.83,25.79,25.25	_10V_AH	10.27,8.439
IRIDIUM_FIX	4752.18,-12506.88,050921,164439	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.149051	FG_AHR_10Vo	0.000
HUMID	52.91	MEM	211288
INTERNAL_PRESSURE	8.7185	DATA_FILE_SIZE	33579,624
TCM_TEMP	15.10	CAP_FILE_SIZE	82909,0
XPDR_PINGS	0	CFSIZE	260030464,244699136
ALTIM_BOTTOM_PING	181.0,55.9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	117710684160.000000	CURRENT	0.064,6.58,1
CP_POWER	328.190000	GPS	050921,201701,4751.163,-12509.859,30,0.9,37,15.7,0.8,144.5,10,5.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	214	92.49	SBE_CT	373	64	574.43
Roll_motor	27	97	64.18	WL_blue_red_Chl	1186	37	1060.96
VBD_pump_during_apogee	545	758	9879.17	nil	0	0	0.00
VBD_pump_during_surface	189	2948	13308.13	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	4100	25	2446.68
Iridium_during_xfer	275	106	698.52	nil	0	0	0.00
Transponder_ping	0	420	7.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.33
TT8	1386	12	174.05
LPSleep	907	2	20.42
TT8_Active	734	12	92.20
TT8_Sampling	1630	37	631.18
TT8_CF8	267	42	118.10
TT8_Kalman	0	0	0.00
Analog_circuits	1657	11	187.28
GPS_charging	0	0	0.00
Compass	1396	8	118.15
RAFOS	0	0	0.00
Transponder	7	30	2.26

		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	-0.84	-116.8	172	2013	693	407	0.0	0.0	0	133	0.00	0.00	-106.28	0.011	16386	0.000	0.000	171	2015	3053	3041	3066	0	0	0	0	0	0	26.10	28.83	26.16
136	-0.84	-116.8	170	2014	3042	3065	3.8	-7.5	15	154	8.20	1.08	-4.72	0.034	18724	0.215	0.078	2292	2700	3279	3280	3279	0	0	0	0	0	0	25.83	24.77	25.98
386	-0.84	-116.8	2291	2700	3290	3275	50.7	-13.8	62	394	0.05	1.02	0.00	0.000	3078	0.185	0.033	2305	1992	3283	3290	3276	0	0	0	0	0	0	26.13	26.36	26.22
526	-0.84	-116.8	2305	1992	3292	3274	69.3	-12.5	87	533	0.00	1.00	0.00	0.000	516	0.000	0.040	2310	1319	3283	3292	3274	0	0	0	0	0	0	26.50	26.39	26.55
749	-0.84	-116.8	2309	1319	3294	3274	96.5	-10.9	130	756	0.00	1.02	0.00	0.000	1030	0.000	0.097	2307	1992	3284	3294	3274	0	0	0	0	0	0	26.51	26.48	26.53
885	-0.84	-116.8	2307	1992	3294	3274	112.1	-11.3	146	887	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	1992	3284	3294	3274	0	0	0	0	0	0	26.62	26.67	26.67
1007	-0.84	-116.8	2307	1992	3294	3274	125.7	-11.6	158	1014	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	1991	3284	3295	3274	0	0	0	0	0	0	26.52	26.54	26.55
1135	-0.84	-116.8	2307	1992	3295	3274	140.6	-11.7	171	1137	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	1992	3284	3295	3274	0	0	0	0	0	0	26.60	26.65	26.64
1255	-0.84	-116.8	2307	1992	3295	3274	154.0	-10.9	183	1257	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	1992	3284	3295	3274	0	0	0	0	0	0	26.68	26.74	26.73
1377	-0.84	-116.8	2307	1992	3295	3274	167.8	-11.6	195	1381	0.00	1.00	0.00	0.000	516	0.000	0.039	2307	1321	3284	3295	3274	0	0	0	0	0	0	26.62	26.55	26.67
1478	-0.84	-116.8	2306	1321	3295	3274	179.7	-11.4	213	1482	0.00	1.02	0.00	0.000	1030	0.000	0.038	2304	1998	3284	3295	3274	0	0	0	0	0	0	26.58	26.54	26.59
1610	-0.84	-116.8	2303	1999	3295	3274	194.4	-11.1	227	1614	0.00	1.02	0.00	0.000	260	0.000	0.044	2298	2698	3284	3295	3274	0	0	0	0	0	0	26.72	26.59	26.77
1674	-0.84	-116.8	2298	2698	3294	3273	201.6	-11.4	239	1678	0.00	1.00	0.00	0.000	1030	0.000	0.033	2298	1999	3284	3295	3274	0	0	0	0	0	0	26.67	26.65	26.69
1805	end dive: BOTTOM_OBSTACLE_DETECTED
state	1805	begin apogee
1810	-0.18	0.0	2298	1783	3295	3273	217.9	-11.5	253	2007	0.75	0.00	187.98	0.567	10246	0.162	0.000	2521	1781	2794	2847	2741	0	0	0	0	0	0	26.27	25.11	24.80
2012	end apogee: CONTROL_FINISHED_OK
state	2012	begin climb
2014	0.84	116.8	2521	1780	2842	2738	222.8	0.0	273	2201	1.08	1.00	180.15	0.535	10756	0.116	0.041	2856	1135	2321	2443	2199	0	0	0	0	0	0	25.33	25.14	24.69
2267	0.86	129.9	2856	1135	2416	2183	204.3	10.0	320	2285	0.00	1.05	11.25	0.667	9254	0.000	0.039	2853	1802	2264	2389	2140	0	0	0	0	0	0	25.58	25.56	24.96
2406	0.86	129.9	2853	1803	2380	2134	190.0	11.1	335	2410	0.00	1.05	0.00	0.000	260	0.000	0.045	2848	2497	2256	2379	2134	0	0	0	0	0	0	25.94	25.87	25.99
2491	0.86	129.9	2847	2497	2378	2130	180.0	11.7	351	2495	0.00	1.00	0.00	0.000	1030	0.000	0.038	2851	1831	2254	2378	2130	0	0	0	0	0	0	26.06	26.05	26.08
2623	0.86	129.9	2851	1831	2377	2130	165.1	11.3	365	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	1830	2254	2377	2131	0	0	0	0	0	0	26.24	26.31	26.29
2753	0.86	132.9	2850	1831	2376	2130	150.9	10.6	378	2757	0.00	1.10	0.00	0.000	548	0.000	0.046	2857	1113	2253	2376	2130	0	0	0	0	0	0	26.34	26.27	26.40
2806	0.86	132.9	2856	1113	2376	2130	145.0	11.1	388	2810	0.00	1.05	0.00	0.000	1030	0.000	0.036	2853	1803	2253	2376	2130	0	0	0	0	0	0	26.35	26.32	26.37
2941	0.87	137.9	2853	1803	2375	2130	130.9	10.5	402	2945	0.00	1.02	0.00	0.000	292	0.000	0.044	2848	2494	2252	2375	2130	0	0	0	0	0	0	26.46	26.36	26.52
3006	0.87	141.3	2847	2494	2374	2130	123.5	10.6	415	3015	0.00	1.05	3.45	0.758	9254	0.000	0.037	2852	1789	2223	2350	2096	0	0	0	0	0	0	26.44	26.41	25.14
3136	0.88	144.6	2851	1789	2356	2097	110.5	10.6	428	3141	0.00	1.05	0.00	0.000	548	0.000	0.047	2858	1097	2226	2356	2097	0	0	0	0	0	0	26.48	26.39	26.54
3183	0.89	155.9	2857	1097	2356	2097	105.1	10.1	437	3211	0.00	1.08	20.12	0.605	9254	0.000	0.035	2853	1807	2157	2286	2028	0	0	0	0	0	0	26.46	26.44	25.54
3333	0.89	155.9	2853	1806	2278	2022	89.6	11.2	463	3340	0.00	1.02	0.00	0.000	260	0.000	0.045	2848	2495	2149	2277	2022	0	0	0	0	0	0	26.39	26.27	26.44
3385	0.89	155.9	2848	2495	2276	2021	83.5	11.9	472	3394	0.03	1.05	0.00	0.000	3078	0.183	0.037	2862	1787	2148	2276	2021	0	0	0	0	0	0	26.17	26.33	26.24
3521	0.89	157.9	2862	1787	2275	2021	69.2	10.7	497	3529	0.00	1.08	0.00	0.000	292	0.000	0.042	2859	2503	2148	2275	2021	0	0	0	0	0	0	26.41	26.37	26.50
3544	0.91	170.0	2859	2503	2274	2021	66.8	10.1	500	3561	0.00	1.02	9.35	0.628	9254	0.000	0.037	2863	1810	2102	2236	1969	0	0	0	0	0	0	26.44	26.41	25.60
3688	0.94	195.3	2862	1810	2227	1961	52.3	9.3	526	3731	0.10	1.12	33.17	0.545	10788	0.160	0.047	2897	1095	1994	2130	1858	0	0	0	0	0	0	26.24	25.94	25.42
3832	0.94	195.3	2897	1095	2120	1854	35.8	10.9	551	3839	0.00	1.08	0.00	0.000	1030	0.000	0.041	2894	1797	1987	2120	1854	0	0	0	0	0	0	26.20	26.17	26.22
3964	0.94	201.5	2893	1796	2120	1851	22.6	10.4	576	3972	0.00	1.05	0.00	0.000	292	0.000	0.045	2889	2502	1986	2120	1852	0	0	0	0	0	0	26.39	26.23	26.44
4123	1.02	268.9	2889	2503	2117	1849	9.7	6.6	605	4229	0.05	1.05	100.45	0.497	11298	0.113	0.040	2917	1791	1754	1900	1609	0	0	0	0	0	0	26.20	26.33	26.29
4229	end climb: SURFACE_DEPTH_REACHED
state	4230	begin surface coast
4254	end surface coast: CONTROL_FINISHED_OK
state	4254	begin surface