Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 97 * 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 97 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 55 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 9000 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 -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 180.0

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 9000

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 180.0 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 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 120 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 55 XPDR_INHIBIT 90

DIVE 97 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 070921,092232,4750.9834,-12509.7861,34,1.0,35,15.7,0.6,258.4,10,2.9 SPEED_LIMITS 0.188,0.240

_CALLS 2 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 121.6,1866,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -61.0 D_GRID 222

GPS2 070921,093027,4750.9751,-12509.9082,3,0.7,6,15.7,0.8,232.1,12,6.0

Post-dive calculations and measurements:

FINISH -0.1,1.025394 CP_POWER1 0.000000

SM_CCo 4549,-0.03,0.737,0,0,549,551.92 _24V_AH 24.34,17.887

SM_GC 0.52,7.40,0.28,-0.03,0.053,0.053,0.737,175,2007,549,-7.39,-1.64,551.92,0,0,0,0,0,0,26.39,26.36,24.41 _10V_AH 10.19,10.051

IRIDIUM_FIX 4754.55,-12504.26,070921,092439 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.180509 FG_AHR_10Vo 0.000

HUMID 54.13 MEM 211172

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 33594,633

TCM_TEMP 15.20 CAP_FILE_SIZE 83945,0

XPDR_PINGS 0 CFSIZE 260030464,242798592

ALTIM_BOTTOM_PING 211.8,37.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 112060858368.000000 CURRENT 0.051,335.53,1

CP_POWER 323.320000 GPS 070921,104816,4750.896,-12509.533,14,0.8,15,15.7,0.4,358.1,12,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 222 94.82 SBE_CT 380 64 596.13

Roll_motor 27 71 47.75 WL_blue_red_Chl 1208 37 1101.58

VBD_pump_during_apogee 520 591 7491.73 nil 0 0 0.00

VBD_pump_during_surface 190 648 3008.36 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 4158 25 2530.14

Iridium_during_xfer 292 101 723.81 nil 0 0 0.00

Transponder_ping 1 420 15.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.14

TT8 1398 12 174.10

LPSleep 1009 2 22.54

TT8_Active 737 12 91.87

TT8_Sampling 1652 37 634.84

TT8_CF8 267 42 117.16

TT8_Kalman 0 0 0.00

Analog_circuits 1681 11 188.43

GPS_charging 0 0 0.00

Compass 1413 8 118.71

RAFOS 0 0 0.00

Transponder 12 30 3.78

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.84 -116.8 169 2026 691 412 0.0 0.0 0 131 0.00 0.00 -103.70 0.011 16386 0.000 0.000 169 2024 2991 2982 3001 0 0 0 0 0 0 26.15 28.83 26.22

134 -0.84 -116.8 169 2024 2982 3002 3.8 -7.0 15 157 8.15 1.10 -6.18 0.018 19236 0.223 0.071 2297 1293 3281 3285 3277 0 0 0 0 0 0 25.86 24.78 26.01

393 -0.84 -116.8 2297 1293 3291 3276 52.7 -14.7 63 401 0.08 1.08 0.00 0.000 3078 0.165 0.036 2316 2002 3283 3290 3276 0 0 0 0 0 0 26.12 26.34 26.22

526 -0.84 -116.8 2315 2002 3292 3275 73.9 -14.5 88 534 0.00 1.05 0.00 0.000 516 0.000 0.040 2320 1301 3284 3293 3275 0 0 0 0 0 0 26.52 26.41 26.58

567 -0.84 -116.8 2319 1301 3293 3275 79.6 -13.0 95 574 0.00 1.05 0.00 0.000 1030 0.000 0.036 2317 1997 3284 3293 3275 0 0 0 0 0 0 26.46 26.44 26.48

706 -0.84 -116.8 2316 1997 3294 3275 97.5 -11.3 120 714 0.00 1.02 0.00 0.000 260 0.000 0.043 2312 2695 3284 3294 3275 0 0 0 0 0 0 26.58 26.46 26.63

843 -0.84 -116.8 2310 2695 3295 3275 113.7 -11.6 145 850 0.00 1.02 0.00 0.000 1030 0.000 0.031 2315 1978 3285 3294 3276 0 0 0 0 0 0 26.57 26.53 26.60

972 -0.84 -116.8 2314 1977 3295 3274 126.3 -9.8 158 976 0.00 0.98 0.00 0.000 548 0.000 0.040 2320 1316 3285 3295 3275 0 0 0 0 0 0 26.63 26.52 26.68

1037 -0.84 -116.8 2319 1316 3295 3275 133.3 -10.5 171 1045 0.00 1.02 0.00 0.000 1062 0.000 0.039 2316 2000 3284 3295 3274 0 0 0 0 0 0 26.58 26.54 26.60

1166 -0.84 -116.8 2316 2000 3296 3274 146.6 -10.6 184 1174 0.00 0.00 0.00 0.000 38 0.000 0.000 2317 2000 3284 3295 3274 0 0 0 0 0 0 26.64 26.71 26.69

1295 -0.84 -116.8 2316 2000 3295 3274 160.9 -11.2 197 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2000 3284 3295 3274 0 0 0 0 0 0 26.61 26.69 26.67

1426 -0.84 -116.8 2314 2000 3295 3274 174.5 -10.4 210 1433 0.00 0.00 0.00 0.000 38 0.000 0.000 2316 2000 3284 3294 3274 0 0 0 0 0 0 26.67 26.74 26.72

1555 -0.84 -116.8 2316 2000 3295 3274 187.7 -10.1 223 1559 0.00 1.02 0.00 0.000 548 0.000 0.039 2320 1314 3284 3295 3274 0 0 0 0 0 0 26.62 26.58 26.69

1620 -0.84 -116.8 2319 1314 3295 3274 194.6 -10.9 235 1624 0.00 1.02 0.00 0.000 1030 0.000 0.034 2316 1998 3284 3295 3273 0 0 0 0 0 0 26.63 26.60 26.66

1753 -0.84 -116.8 2316 1998 3295 3274 207.6 -10.0 249 1757 0.00 1.02 0.00 0.000 292 0.000 0.043 2311 2699 3284 3296 3273 0 0 0 0 0 0 26.75 26.59 26.77

1791 -0.84 -116.8 2310 2698 3295 3274 211.8 -10.8 256 1801 0.00 1.00 0.00 0.000 1062 0.000 0.032 2315 1994 3284 3295 3273 0 0 0 0 0 0 26.67 26.63 26.66

1887 end dive: TARGET_DEPTH_EXCEEDED

state 1887 begin apogee

1892 -0.18 0.0 2316 1784 3295 3273 222.6 -10.7 266 2110 0.68 0.00 213.73 0.571 10246 0.161 0.000 2518 1784 2802 2856 2748 0 0 0 0 0 0 26.27 25.22 24.75

2115 end apogee: CONTROL_FINISHED_OK

state 2115 begin climb

2117 0.84 116.8 2519 1783 2843 2736 227.8 0.0 288 2309 1.08 0.98 184.25 0.536 10756 0.116 0.036 2854 1139 2319 2443 2195 0 0 0 0 0 0 25.25 24.96 24.65

2363 0.84 116.8 2854 1139 2407 2166 209.3 10.8 333 2372 0.00 1.02 0.00 0.000 1030 0.000 0.035 2851 1796 2285 2406 2165 0 0 0 0 0 0 25.59 25.56 25.60

2491 0.84 116.8 2851 1797 2402 2162 195.2 11.4 346 2496 0.00 1.08 0.00 0.000 260 0.000 0.052 2846 2502 2281 2402 2161 0 0 0 0 0 0 25.96 25.87 26.03

2580 0.85 126.7 2845 2502 2402 2158 185.8 10.2 362 2584 0.00 1.00 0.00 0.000 1062 0.000 0.037 2849 1833 2280 2402 2159 0 0 0 0 0 0 26.06 26.02 26.08

2712 0.85 126.7 2849 1833 2402 2159 171.3 11.3 376 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1833 2280 2402 2158 0 0 0 0 0 0 26.02 25.51 25.77

2832 0.85 126.7 2849 1833 2401 2158 156.9 12.1 388 2836 0.00 1.12 0.00 0.000 516 0.000 0.049 2855 1098 2280 2402 2158 0 0 0 0 0 0 26.24 26.26 26.27

2888 0.85 126.7 2854 1098 2401 2158 149.6 12.0 399 2896 0.00 1.08 0.00 0.000 1030 0.000 0.034 2851 1805 2279 2401 2158 0 0 0 0 0 0 26.36 26.32 26.37

3019 0.85 126.7 2850 1804 2400 2158 133.9 12.5 412 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 1805 2279 2400 2158 0 0 0 0 0 0 26.47 26.53 26.53

3146 0.85 126.7 2851 1805 2398 2157 116.8 13.0 425 3151 0.00 1.08 0.00 0.000 516 0.000 0.053 2854 1109 2278 2399 2158 0 0 0 0 0 0 26.51 26.39 26.55

3179 0.85 126.7 2854 1109 2399 2157 112.4 13.0 431 3183 0.00 1.05 0.00 0.000 1030 0.000 0.036 2851 1803 2278 2399 2158 0 0 0 0 0 0 26.46 26.44 26.49

3307 0.85 126.7 2850 1803 2397 2158 96.8 11.0 447 3315 0.00 1.08 0.00 0.000 516 0.000 0.053 2855 1109 2277 2397 2157 0 0 0 0 0 0 26.57 26.39 26.60

3383 0.86 128.5 2854 1109 2398 2157 88.5 10.7 461 3391 0.00 1.05 0.00 0.000 1062 0.000 0.036 2851 1807 2277 2397 2157 0 0 0 0 0 0 26.52 26.48 26.54

3519 0.93 193.3 2851 1807 2397 2157 76.9 6.8 486 3638 0.12 1.05 110.47 0.529 10532 0.163 0.041 2883 2485 2002 2139 1865 0 0 0 0 0 0 26.36 25.37 25.06

3871 0.94 199.4 2882 2486 2105 1832 40.5 10.5 548 3879 0.00 1.02 0.00 0.000 1062 0.000 0.044 2885 1802 1968 2105 1832 0 0 0 0 0 0 26.11 26.06 26.14

4005 0.96 213.6 2885 1802 2104 1832 27.7 9.9 573 4021 0.00 1.05 8.10 0.591 8484 0.000 0.041 2882 2488 1931 2071 1792 0 0 0 0 0 0 26.32 25.84 25.46

4194 0.97 222.3 2881 2488 2064 1790 8.7 10.3 608 4203 0.00 1.02 3.95 0.525 9254 0.000 0.037 2886 1801 1890 2032 1749 0 0 0 0 0 0 26.31 26.27 25.30

4295 end climb: SURFACE_DEPTH_REACHED

state 4296 begin surface coast

4329 end surface coast: CONTROL_FINISHED_OK

state 4329 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	97	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	55	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	9000	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	-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	180.0
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	070921,092232,4750.9834,-12509.7861,34,1.0,35,15.7,0.6,258.4,10,2.9	SPEED_LIMITS	0.188,0.240
_CALLS	2	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	121.6,1866,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-61.0	D_GRID	222
GPS2	070921,093027,4750.9751,-12509.9082,3,0.7,6,15.7,0.8,232.1,12,6.0

FINISH	-0.1,1.025394	CP_POWER1	0.000000
SM_CCo	4549,-0.03,0.737,0,0,549,551.92	_24V_AH	24.34,17.887
SM_GC	0.52,7.40,0.28,-0.03,0.053,0.053,0.737,175,2007,549,-7.39,-1.64,551.92,0,0,0,0,0,0,26.39,26.36,24.41	_10V_AH	10.19,10.051
IRIDIUM_FIX	4754.55,-12504.26,070921,092439	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.180509	FG_AHR_10Vo	0.000
HUMID	54.13	MEM	211172
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	33594,633
TCM_TEMP	15.20	CAP_FILE_SIZE	83945,0
XPDR_PINGS	0	CFSIZE	260030464,242798592
ALTIM_BOTTOM_PING	211.8,37.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	112060858368.000000	CURRENT	0.051,335.53,1
CP_POWER	323.320000	GPS	070921,104816,4750.896,-12509.533,14,0.8,15,15.7,0.4,358.1,12,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	222	94.82	SBE_CT	380	64	596.13
Roll_motor	27	71	47.75	WL_blue_red_Chl	1208	37	1101.58
VBD_pump_during_apogee	520	591	7491.73	nil	0	0	0.00
VBD_pump_during_surface	190	648	3008.36	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	4158	25	2530.14
Iridium_during_xfer	292	101	723.81	nil	0	0	0.00
Transponder_ping	1	420	15.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.14
TT8	1398	12	174.10
LPSleep	1009	2	22.54
TT8_Active	737	12	91.87
TT8_Sampling	1652	37	634.84
TT8_CF8	267	42	117.16
TT8_Kalman	0	0	0.00
Analog_circuits	1681	11	188.43
GPS_charging	0	0	0.00
Compass	1413	8	118.71
RAFOS	0	0	0.00
Transponder	12	30	3.78

		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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.84	-116.8	169	2026	691	412	0.0	0.0	0	131	0.00	0.00	-103.70	0.011	16386	0.000	0.000	169	2024	2991	2982	3001	0	0	0	0	0	0	26.15	28.83	26.22
134	-0.84	-116.8	169	2024	2982	3002	3.8	-7.0	15	157	8.15	1.10	-6.18	0.018	19236	0.223	0.071	2297	1293	3281	3285	3277	0	0	0	0	0	0	25.86	24.78	26.01
393	-0.84	-116.8	2297	1293	3291	3276	52.7	-14.7	63	401	0.08	1.08	0.00	0.000	3078	0.165	0.036	2316	2002	3283	3290	3276	0	0	0	0	0	0	26.12	26.34	26.22
526	-0.84	-116.8	2315	2002	3292	3275	73.9	-14.5	88	534	0.00	1.05	0.00	0.000	516	0.000	0.040	2320	1301	3284	3293	3275	0	0	0	0	0	0	26.52	26.41	26.58
567	-0.84	-116.8	2319	1301	3293	3275	79.6	-13.0	95	574	0.00	1.05	0.00	0.000	1030	0.000	0.036	2317	1997	3284	3293	3275	0	0	0	0	0	0	26.46	26.44	26.48
706	-0.84	-116.8	2316	1997	3294	3275	97.5	-11.3	120	714	0.00	1.02	0.00	0.000	260	0.000	0.043	2312	2695	3284	3294	3275	0	0	0	0	0	0	26.58	26.46	26.63
843	-0.84	-116.8	2310	2695	3295	3275	113.7	-11.6	145	850	0.00	1.02	0.00	0.000	1030	0.000	0.031	2315	1978	3285	3294	3276	0	0	0	0	0	0	26.57	26.53	26.60
972	-0.84	-116.8	2314	1977	3295	3274	126.3	-9.8	158	976	0.00	0.98	0.00	0.000	548	0.000	0.040	2320	1316	3285	3295	3275	0	0	0	0	0	0	26.63	26.52	26.68
1037	-0.84	-116.8	2319	1316	3295	3275	133.3	-10.5	171	1045	0.00	1.02	0.00	0.000	1062	0.000	0.039	2316	2000	3284	3295	3274	0	0	0	0	0	0	26.58	26.54	26.60
1166	-0.84	-116.8	2316	2000	3296	3274	146.6	-10.6	184	1174	0.00	0.00	0.00	0.000	38	0.000	0.000	2317	2000	3284	3295	3274	0	0	0	0	0	0	26.64	26.71	26.69
1295	-0.84	-116.8	2316	2000	3295	3274	160.9	-11.2	197	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2000	3284	3295	3274	0	0	0	0	0	0	26.61	26.69	26.67
1426	-0.84	-116.8	2314	2000	3295	3274	174.5	-10.4	210	1433	0.00	0.00	0.00	0.000	38	0.000	0.000	2316	2000	3284	3294	3274	0	0	0	0	0	0	26.67	26.74	26.72
1555	-0.84	-116.8	2316	2000	3295	3274	187.7	-10.1	223	1559	0.00	1.02	0.00	0.000	548	0.000	0.039	2320	1314	3284	3295	3274	0	0	0	0	0	0	26.62	26.58	26.69
1620	-0.84	-116.8	2319	1314	3295	3274	194.6	-10.9	235	1624	0.00	1.02	0.00	0.000	1030	0.000	0.034	2316	1998	3284	3295	3273	0	0	0	0	0	0	26.63	26.60	26.66
1753	-0.84	-116.8	2316	1998	3295	3274	207.6	-10.0	249	1757	0.00	1.02	0.00	0.000	292	0.000	0.043	2311	2699	3284	3296	3273	0	0	0	0	0	0	26.75	26.59	26.77
1791	-0.84	-116.8	2310	2698	3295	3274	211.8	-10.8	256	1801	0.00	1.00	0.00	0.000	1062	0.000	0.032	2315	1994	3284	3295	3273	0	0	0	0	0	0	26.67	26.63	26.66
1887	end dive: TARGET_DEPTH_EXCEEDED
state	1887	begin apogee
1892	-0.18	0.0	2316	1784	3295	3273	222.6	-10.7	266	2110	0.68	0.00	213.73	0.571	10246	0.161	0.000	2518	1784	2802	2856	2748	0	0	0	0	0	0	26.27	25.22	24.75
2115	end apogee: CONTROL_FINISHED_OK
state	2115	begin climb
2117	0.84	116.8	2519	1783	2843	2736	227.8	0.0	288	2309	1.08	0.98	184.25	0.536	10756	0.116	0.036	2854	1139	2319	2443	2195	0	0	0	0	0	0	25.25	24.96	24.65
2363	0.84	116.8	2854	1139	2407	2166	209.3	10.8	333	2372	0.00	1.02	0.00	0.000	1030	0.000	0.035	2851	1796	2285	2406	2165	0	0	0	0	0	0	25.59	25.56	25.60
2491	0.84	116.8	2851	1797	2402	2162	195.2	11.4	346	2496	0.00	1.08	0.00	0.000	260	0.000	0.052	2846	2502	2281	2402	2161	0	0	0	0	0	0	25.96	25.87	26.03
2580	0.85	126.7	2845	2502	2402	2158	185.8	10.2	362	2584	0.00	1.00	0.00	0.000	1062	0.000	0.037	2849	1833	2280	2402	2159	0	0	0	0	0	0	26.06	26.02	26.08
2712	0.85	126.7	2849	1833	2402	2159	171.3	11.3	376	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1833	2280	2402	2158	0	0	0	0	0	0	26.02	25.51	25.77
2832	0.85	126.7	2849	1833	2401	2158	156.9	12.1	388	2836	0.00	1.12	0.00	0.000	516	0.000	0.049	2855	1098	2280	2402	2158	0	0	0	0	0	0	26.24	26.26	26.27
2888	0.85	126.7	2854	1098	2401	2158	149.6	12.0	399	2896	0.00	1.08	0.00	0.000	1030	0.000	0.034	2851	1805	2279	2401	2158	0	0	0	0	0	0	26.36	26.32	26.37
3019	0.85	126.7	2850	1804	2400	2158	133.9	12.5	412	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	1805	2279	2400	2158	0	0	0	0	0	0	26.47	26.53	26.53
3146	0.85	126.7	2851	1805	2398	2157	116.8	13.0	425	3151	0.00	1.08	0.00	0.000	516	0.000	0.053	2854	1109	2278	2399	2158	0	0	0	0	0	0	26.51	26.39	26.55
3179	0.85	126.7	2854	1109	2399	2157	112.4	13.0	431	3183	0.00	1.05	0.00	0.000	1030	0.000	0.036	2851	1803	2278	2399	2158	0	0	0	0	0	0	26.46	26.44	26.49
3307	0.85	126.7	2850	1803	2397	2158	96.8	11.0	447	3315	0.00	1.08	0.00	0.000	516	0.000	0.053	2855	1109	2277	2397	2157	0	0	0	0	0	0	26.57	26.39	26.60
3383	0.86	128.5	2854	1109	2398	2157	88.5	10.7	461	3391	0.00	1.05	0.00	0.000	1062	0.000	0.036	2851	1807	2277	2397	2157	0	0	0	0	0	0	26.52	26.48	26.54
3519	0.93	193.3	2851	1807	2397	2157	76.9	6.8	486	3638	0.12	1.05	110.47	0.529	10532	0.163	0.041	2883	2485	2002	2139	1865	0	0	0	0	0	0	26.36	25.37	25.06
3871	0.94	199.4	2882	2486	2105	1832	40.5	10.5	548	3879	0.00	1.02	0.00	0.000	1062	0.000	0.044	2885	1802	1968	2105	1832	0	0	0	0	0	0	26.11	26.06	26.14
4005	0.96	213.6	2885	1802	2104	1832	27.7	9.9	573	4021	0.00	1.05	8.10	0.591	8484	0.000	0.041	2882	2488	1931	2071	1792	0	0	0	0	0	0	26.32	25.84	25.46
4194	0.97	222.3	2881	2488	2064	1790	8.7	10.3	608	4203	0.00	1.02	3.95	0.525	9254	0.000	0.037	2886	1801	1890	2032	1749	0	0	0	0	0	0	26.31	26.27	25.30
4295	end climb: SURFACE_DEPTH_REACHED
state	4296	begin surface coast
4329	end surface coast: CONTROL_FINISHED_OK
state	4329	begin surface