Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 107 * 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 107 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 46 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 51 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 155 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 -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 3 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 200.0

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 155

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 200.0 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 3 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 46 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 51 XPDR_INHIBIT 90

DIVE 107 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 080921,001609,4751.4404,-12510.9150,3,0.7,15,15.7,0.3,297.9,12,3.2 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 0.40 MHEAD_RNG_PITCHd_Wd 100.5,3416,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -55.8 D_GRID 285

GPS2 080921,002207,4751.4126,-12510.9766,3,0.8,6,15.7,0.3,184.3,12,6.5

Post-dive calculations and measurements:

FINISH -0.5,1.025530 CP_POWER1 0.000000

SM_CCo 5076,0.00,0.000,0,0,550,551.92 _24V_AH 24.19,19.143

SM_GC 0.36,7.55,0.30,0.00,0.050,0.050,0.000,169,2004,550,-7.40,-1.55,551.92,0,0,0,0,0,0,26.08,26.02,25.43 _10V_AH 10.26,10.645

IRIDIUM_FIX 4750.34,-12512.13,070921,225000 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.146804 FG_AHR_10Vo 0.000

HUMID 53.26 MEM 211144

INTERNAL_PRESSURE 8.74779 DATA_FILE_SIZE 36935,698

TCM_TEMP 15.30 CAP_FILE_SIZE 91204,0

XPDR_PINGS 0 CFSIZE 260030464,242040832

ALTIM_BOTTOM_PING 223.2,53.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 109220757504.000000 CURRENT 0.060,207.78,1

CP_POWER 323.310000 GPS 080921,014901,4751.075,-12510.473,7,1.0,34,15.7,1.2,231.6,9,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 224 96.51 SBE_CT 412 64 642.62

Roll_motor 36 94 82.74 WL_blue_red_Chl 1307 37 1184.09

VBD_pump_during_apogee 526 738 9408.31 nil 0 0 0.00

VBD_pump_during_surface 193 622 2914.38 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 4677 25 2828.42

Iridium_during_xfer 233 97 552.50 nil 0 0 0.00

Transponder_ping 2 420 20.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.33

TT8 1553 12 194.83

LPSleep 1131 2 25.43

TT8_Active 755 12 94.70

TT8_Sampling 1746 37 675.20

TT8_CF8 286 42 126.37

TT8_Kalman 0 0 0.00

Analog_circuits 1693 11 191.14

GPS_charging 0 0 0.00

Compass 1569 8 132.73

RAFOS 0 0 0.00

Transponder 16 30 5.22

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

25 -0.84 -116.8 167 2020 690 412 0.0 0.0 0 133 0.00 0.00 -105.20 0.011 16386 0.000 0.000 167 2019 3033 3022 3044 0 0 0 0 0 0 26.11 28.83 26.18

136 -0.84 -116.8 168 2019 3023 3044 4.1 -8.4 15 154 8.23 1.12 -5.03 0.021 18980 0.224 0.063 2294 1285 3279 3280 3278 0 0 0 0 0 0 25.77 24.72 25.94

315 -0.84 -116.8 2296 1285 3287 3276 40.2 -17.2 48 324 0.05 1.08 0.00 0.000 3078 0.176 0.036 2306 1999 3282 3288 3276 0 0 0 0 0 0 26.08 26.30 26.17

451 -0.84 -116.8 2305 1999 3290 3275 59.8 -12.8 73 459 0.00 1.02 0.00 0.000 260 0.000 0.043 2302 2694 3282 3290 3275 0 0 0 0 0 0 26.45 26.35 26.51

563 -0.84 -116.8 2302 2694 3291 3275 75.4 -12.4 94 570 0.00 1.02 0.00 0.000 1030 0.000 0.032 2305 1979 3283 3291 3275 0 0 0 0 0 0 26.47 26.45 26.49

699 -0.84 -116.8 2304 1978 3292 3275 91.8 -12.3 119 706 0.00 1.08 0.00 0.000 260 0.000 0.051 2301 2697 3283 3292 3275 0 0 0 0 0 0 26.55 26.44 26.62

761 -0.84 -116.8 2301 2697 3293 3274 99.8 -12.1 130 768 0.00 1.00 0.00 0.000 1030 0.000 0.032 2305 1999 3283 3292 3275 0 0 0 0 0 0 26.54 26.51 26.54

887 -0.84 -116.8 2304 1999 3293 3275 113.8 -10.8 143 890 0.00 1.00 0.00 0.000 516 0.000 0.039 2310 1320 3284 3293 3275 0 0 0 0 0 0 26.60 26.48 26.65

953 -0.84 -116.8 2309 1320 3293 3274 121.7 -11.6 156 962 0.00 1.00 0.00 0.000 1030 0.000 0.035 2307 1983 3283 3293 3274 0 0 0 0 0 0 26.55 26.53 26.57

1081 -0.84 -116.8 2306 1983 3293 3274 136.3 -11.5 169 1086 0.00 1.00 0.00 0.000 516 0.000 0.039 2306 1314 3283 3293 3274 0 0 0 0 0 0 26.59 26.52 26.65

1127 -0.84 -116.8 2306 1314 3294 3274 141.8 -12.1 177 1130 0.00 1.02 0.00 0.000 1030 0.000 0.036 2302 1994 3284 3294 3274 0 0 0 0 0 0 26.57 26.54 26.59

1261 -0.84 -116.8 2302 1994 3294 3274 157.1 -11.4 191 1264 0.00 1.05 0.00 0.000 260 0.000 0.043 2297 2709 3284 3294 3274 0 0 0 0 0 0 26.65 26.53 26.71

1401 -0.84 -116.8 2296 2709 3294 3274 175.6 -12.2 218 1412 0.05 1.02 0.00 0.000 3078 0.174 0.031 2311 1990 3284 3294 3274 0 0 0 0 0 0 26.35 26.60 26.44

1530 -0.84 -116.8 2310 1990 3293 3274 190.1 -11.4 231 1535 0.00 0.98 0.00 0.000 516 0.000 0.039 2316 1322 3283 3293 3274 0 0 0 0 0 0 26.70 26.57 26.74

1565 -0.84 -116.8 2315 1322 3294 3274 193.9 -11.0 237 1568 0.00 1.02 0.00 0.000 1030 0.000 0.035 2313 2006 3284 3295 3274 0 0 0 0 0 0 26.61 26.27 26.64

1696 -0.84 -116.8 2312 2006 3294 3274 209.1 -11.5 251 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2313 2006 3284 3294 3274 0 0 0 0 0 0 26.63 26.70 26.68

1819 -0.84 -116.8 2313 2006 3294 3273 222.1 -10.9 263 1828 0.00 0.00 0.00 0.000 6 0.000 0.000 2313 2007 3283 3294 3273 0 0 0 0 0 0 26.71 26.78 26.77

1949 -0.84 -116.8 2313 2006 3294 3273 236.7 -11.1 276 1953 0.00 1.02 0.00 0.000 516 0.000 0.047 2316 1319 3283 3294 3273 0 0 0 0 0 0 26.70 26.58 26.76

2043 -0.84 -116.8 2315 1319 3294 3273 247.5 -10.7 294 2047 0.00 1.02 0.00 0.000 1062 0.000 0.040 2313 2002 3283 3294 3273 0 0 0 0 0 0 26.58 26.53 26.58

2134 end dive: BOTTOM_OBSTACLE_DETECTED

state 2134 begin apogee

2139 -0.18 0.0 2312 1789 3293 3272 257.0 -10.1 304 2305 0.70 0.00 151.18 0.738 10246 0.167 0.000 2522 1788 2806 2862 2750 0 0 0 0 1 0 26.17 25.02 24.19

2310 end apogee: CONTROL_FINISHED_OK

state 2310 begin climb

2312 0.84 116.8 2521 1788 2865 2753 261.7 0.0 321 2508 1.08 1.10 188.50 0.566 11012 0.116 0.041 2858 1128 2320 2446 2195 0 0 0 0 0 0 25.20 25.06 24.57

2639 0.84 116.8 2857 1128 2416 2178 234.1 11.7 370 2643 0.00 1.05 0.00 0.000 1030 0.000 0.044 2855 1798 2296 2415 2178 0 0 0 0 0 0 25.73 25.23 25.77

2771 0.84 116.8 2854 1799 2414 2174 218.5 11.7 384 2776 0.00 1.08 0.00 0.000 260 0.000 0.044 2850 2506 2294 2414 2174 0 0 0 0 0 0 26.08 26.00 26.10

2804 0.84 116.8 2849 2506 2414 2171 214.6 11.7 390 2808 0.00 1.02 0.00 0.000 1030 0.000 0.040 2853 1822 2293 2414 2172 0 0 0 0 0 0 26.00 26.03 25.91

2936 0.84 117.6 2852 1821 2412 2171 199.9 10.8 404 2941 0.00 1.12 0.00 0.000 548 0.000 0.046 2857 1096 2292 2412 2172 0 0 0 0 0 0 26.23 26.19 26.30

2961 0.84 117.6 2858 1097 2412 2172 197.4 11.0 408 2966 0.00 1.08 0.00 0.000 1030 0.000 0.035 2855 1801 2292 2412 2172 0 0 0 0 0 0 26.22 26.23 26.22

3094 0.84 117.6 2854 1801 2411 2172 182.3 10.9 422 3096 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 1801 2291 2411 2172 0 0 0 0 0 0 26.36 26.46 26.43

3216 0.84 117.6 2854 1801 2411 2171 168.9 11.0 434 3220 0.00 1.05 0.00 0.000 260 0.000 0.044 2850 2503 2291 2411 2171 0 0 0 0 0 0 26.44 26.36 26.50

3248 0.84 117.6 2849 2503 2410 2171 165.1 11.0 440 3253 0.00 1.05 0.00 0.000 1030 0.000 0.038 2853 1795 2290 2410 2171 0 0 0 0 0 0 26.41 26.39 26.44

3381 0.84 118.7 2853 1795 2410 2171 150.5 10.8 454 3385 0.00 1.08 0.00 0.000 292 0.000 0.044 2850 2502 2290 2410 2171 0 0 0 0 0 0 26.45 26.40 26.51

3487 0.86 130.4 2849 2502 2409 2171 139.1 10.1 475 3496 0.00 1.05 2.67 0.588 9254 0.000 0.038 2853 1794 2269 2395 2143 0 0 0 0 0 0 26.45 26.41 25.03

3618 0.90 163.6 2853 1793 2402 2149 127.1 8.8 488 3685 0.08 0.00 57.60 0.571 10790 0.179 0.000 2876 1793 2122 2254 1990 0 0 0 0 0 0 26.35 25.75 25.29

3808 0.90 163.6 2875 1793 2237 1976 104.7 13.8 512 3813 0.00 1.10 0.00 0.000 260 0.000 0.044 2873 2506 2106 2237 1976 0 0 0 0 0 0 26.14 26.09 26.20

3861 0.90 163.6 2872 2505 2236 1974 97.2 13.4 522 3869 0.00 1.05 0.00 0.000 1030 0.000 0.037 2875 1805 2105 2237 1974 0 0 0 0 0 0 26.20 26.17 26.23

4000 0.90 163.6 2875 1805 2236 1973 79.3 11.7 547 4008 0.00 1.10 0.00 0.000 516 0.000 0.054 2881 1095 2104 2236 1973 0 0 0 0 0 0 26.37 26.22 26.38

4071 0.90 163.6 2881 1095 2235 1973 71.2 11.1 560 4080 0.00 1.08 0.00 0.000 1030 0.000 0.094 2878 1801 2104 2235 1973 0 0 0 0 0 0 26.32 26.31 26.39

4208 0.93 187.5 2878 1801 2234 1972 57.6 9.3 585 4239 0.00 1.15 25.20 0.575 8740 0.000 0.045 2882 1090 2030 2168 1893 0 0 0 0 0 0 26.49 26.01 25.44

4282 0.93 187.5 2881 1090 2148 1878 50.1 11.1 597 4290 0.00 1.08 0.00 0.000 1030 0.000 0.034 2879 1797 2012 2147 1877 0 0 0 0 0 0 26.21 26.17 26.23

4422 0.93 192.0 2878 1797 2146 1875 35.7 10.6 622 4429 0.00 1.05 0.00 0.000 292 0.000 0.044 2873 2501 2010 2146 1875 0 0 0 0 0 0 26.39 26.27 26.44

4615 1.00 251.0 2873 2501 2144 1874 20.6 7.2 658 4722 0.08 1.05 101.70 0.503 11302 0.100 0.040 2910 1792 1778 1924 1632 0 0 0 0 0 0 26.24 25.39 25.07

4830 end climb: SURFACE_DEPTH_REACHED

state 4830 begin surface coast

4852 end surface coast: CONTROL_FINISHED_OK

state 4852 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	107	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	46	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	51	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	155	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	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	3	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	200.0
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	080921,001609,4751.4404,-12510.9150,3,0.7,15,15.7,0.3,297.9,12,3.2	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	0.40	MHEAD_RNG_PITCHd_Wd	100.5,3416,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-55.8	D_GRID	285
GPS2	080921,002207,4751.4126,-12510.9766,3,0.8,6,15.7,0.3,184.3,12,6.5

FINISH	-0.5,1.025530	CP_POWER1	0.000000
SM_CCo	5076,0.00,0.000,0,0,550,551.92	_24V_AH	24.19,19.143
SM_GC	0.36,7.55,0.30,0.00,0.050,0.050,0.000,169,2004,550,-7.40,-1.55,551.92,0,0,0,0,0,0,26.08,26.02,25.43	_10V_AH	10.26,10.645
IRIDIUM_FIX	4750.34,-12512.13,070921,225000	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.146804	FG_AHR_10Vo	0.000
HUMID	53.26	MEM	211144
INTERNAL_PRESSURE	8.74779	DATA_FILE_SIZE	36935,698
TCM_TEMP	15.30	CAP_FILE_SIZE	91204,0
XPDR_PINGS	0	CFSIZE	260030464,242040832
ALTIM_BOTTOM_PING	223.2,53.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	109220757504.000000	CURRENT	0.060,207.78,1
CP_POWER	323.310000	GPS	080921,014901,4751.075,-12510.473,7,1.0,34,15.7,1.2,231.6,9,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	224	96.51	SBE_CT	412	64	642.62
Roll_motor	36	94	82.74	WL_blue_red_Chl	1307	37	1184.09
VBD_pump_during_apogee	526	738	9408.31	nil	0	0	0.00
VBD_pump_during_surface	193	622	2914.38	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	4677	25	2828.42
Iridium_during_xfer	233	97	552.50	nil	0	0	0.00
Transponder_ping	2	420	20.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.33
TT8	1553	12	194.83
LPSleep	1131	2	25.43
TT8_Active	755	12	94.70
TT8_Sampling	1746	37	675.20
TT8_CF8	286	42	126.37
TT8_Kalman	0	0	0.00
Analog_circuits	1693	11	191.14
GPS_charging	0	0	0.00
Compass	1569	8	132.73
RAFOS	0	0	0.00
Transponder	16	30	5.22

		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
25	-0.84	-116.8	167	2020	690	412	0.0	0.0	0	133	0.00	0.00	-105.20	0.011	16386	0.000	0.000	167	2019	3033	3022	3044	0	0	0	0	0	0	26.11	28.83	26.18
136	-0.84	-116.8	168	2019	3023	3044	4.1	-8.4	15	154	8.23	1.12	-5.03	0.021	18980	0.224	0.063	2294	1285	3279	3280	3278	0	0	0	0	0	0	25.77	24.72	25.94
315	-0.84	-116.8	2296	1285	3287	3276	40.2	-17.2	48	324	0.05	1.08	0.00	0.000	3078	0.176	0.036	2306	1999	3282	3288	3276	0	0	0	0	0	0	26.08	26.30	26.17
451	-0.84	-116.8	2305	1999	3290	3275	59.8	-12.8	73	459	0.00	1.02	0.00	0.000	260	0.000	0.043	2302	2694	3282	3290	3275	0	0	0	0	0	0	26.45	26.35	26.51
563	-0.84	-116.8	2302	2694	3291	3275	75.4	-12.4	94	570	0.00	1.02	0.00	0.000	1030	0.000	0.032	2305	1979	3283	3291	3275	0	0	0	0	0	0	26.47	26.45	26.49
699	-0.84	-116.8	2304	1978	3292	3275	91.8	-12.3	119	706	0.00	1.08	0.00	0.000	260	0.000	0.051	2301	2697	3283	3292	3275	0	0	0	0	0	0	26.55	26.44	26.62
761	-0.84	-116.8	2301	2697	3293	3274	99.8	-12.1	130	768	0.00	1.00	0.00	0.000	1030	0.000	0.032	2305	1999	3283	3292	3275	0	0	0	0	0	0	26.54	26.51	26.54
887	-0.84	-116.8	2304	1999	3293	3275	113.8	-10.8	143	890	0.00	1.00	0.00	0.000	516	0.000	0.039	2310	1320	3284	3293	3275	0	0	0	0	0	0	26.60	26.48	26.65
953	-0.84	-116.8	2309	1320	3293	3274	121.7	-11.6	156	962	0.00	1.00	0.00	0.000	1030	0.000	0.035	2307	1983	3283	3293	3274	0	0	0	0	0	0	26.55	26.53	26.57
1081	-0.84	-116.8	2306	1983	3293	3274	136.3	-11.5	169	1086	0.00	1.00	0.00	0.000	516	0.000	0.039	2306	1314	3283	3293	3274	0	0	0	0	0	0	26.59	26.52	26.65
1127	-0.84	-116.8	2306	1314	3294	3274	141.8	-12.1	177	1130	0.00	1.02	0.00	0.000	1030	0.000	0.036	2302	1994	3284	3294	3274	0	0	0	0	0	0	26.57	26.54	26.59
1261	-0.84	-116.8	2302	1994	3294	3274	157.1	-11.4	191	1264	0.00	1.05	0.00	0.000	260	0.000	0.043	2297	2709	3284	3294	3274	0	0	0	0	0	0	26.65	26.53	26.71
1401	-0.84	-116.8	2296	2709	3294	3274	175.6	-12.2	218	1412	0.05	1.02	0.00	0.000	3078	0.174	0.031	2311	1990	3284	3294	3274	0	0	0	0	0	0	26.35	26.60	26.44
1530	-0.84	-116.8	2310	1990	3293	3274	190.1	-11.4	231	1535	0.00	0.98	0.00	0.000	516	0.000	0.039	2316	1322	3283	3293	3274	0	0	0	0	0	0	26.70	26.57	26.74
1565	-0.84	-116.8	2315	1322	3294	3274	193.9	-11.0	237	1568	0.00	1.02	0.00	0.000	1030	0.000	0.035	2313	2006	3284	3295	3274	0	0	0	0	0	0	26.61	26.27	26.64
1696	-0.84	-116.8	2312	2006	3294	3274	209.1	-11.5	251	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2313	2006	3284	3294	3274	0	0	0	0	0	0	26.63	26.70	26.68
1819	-0.84	-116.8	2313	2006	3294	3273	222.1	-10.9	263	1828	0.00	0.00	0.00	0.000	6	0.000	0.000	2313	2007	3283	3294	3273	0	0	0	0	0	0	26.71	26.78	26.77
1949	-0.84	-116.8	2313	2006	3294	3273	236.7	-11.1	276	1953	0.00	1.02	0.00	0.000	516	0.000	0.047	2316	1319	3283	3294	3273	0	0	0	0	0	0	26.70	26.58	26.76
2043	-0.84	-116.8	2315	1319	3294	3273	247.5	-10.7	294	2047	0.00	1.02	0.00	0.000	1062	0.000	0.040	2313	2002	3283	3294	3273	0	0	0	0	0	0	26.58	26.53	26.58
2134	end dive: BOTTOM_OBSTACLE_DETECTED
state	2134	begin apogee
2139	-0.18	0.0	2312	1789	3293	3272	257.0	-10.1	304	2305	0.70	0.00	151.18	0.738	10246	0.167	0.000	2522	1788	2806	2862	2750	0	0	0	0	1	0	26.17	25.02	24.19
2310	end apogee: CONTROL_FINISHED_OK
state	2310	begin climb
2312	0.84	116.8	2521	1788	2865	2753	261.7	0.0	321	2508	1.08	1.10	188.50	0.566	11012	0.116	0.041	2858	1128	2320	2446	2195	0	0	0	0	0	0	25.20	25.06	24.57
2639	0.84	116.8	2857	1128	2416	2178	234.1	11.7	370	2643	0.00	1.05	0.00	0.000	1030	0.000	0.044	2855	1798	2296	2415	2178	0	0	0	0	0	0	25.73	25.23	25.77
2771	0.84	116.8	2854	1799	2414	2174	218.5	11.7	384	2776	0.00	1.08	0.00	0.000	260	0.000	0.044	2850	2506	2294	2414	2174	0	0	0	0	0	0	26.08	26.00	26.10
2804	0.84	116.8	2849	2506	2414	2171	214.6	11.7	390	2808	0.00	1.02	0.00	0.000	1030	0.000	0.040	2853	1822	2293	2414	2172	0	0	0	0	0	0	26.00	26.03	25.91
2936	0.84	117.6	2852	1821	2412	2171	199.9	10.8	404	2941	0.00	1.12	0.00	0.000	548	0.000	0.046	2857	1096	2292	2412	2172	0	0	0	0	0	0	26.23	26.19	26.30
2961	0.84	117.6	2858	1097	2412	2172	197.4	11.0	408	2966	0.00	1.08	0.00	0.000	1030	0.000	0.035	2855	1801	2292	2412	2172	0	0	0	0	0	0	26.22	26.23	26.22
3094	0.84	117.6	2854	1801	2411	2172	182.3	10.9	422	3096	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	1801	2291	2411	2172	0	0	0	0	0	0	26.36	26.46	26.43
3216	0.84	117.6	2854	1801	2411	2171	168.9	11.0	434	3220	0.00	1.05	0.00	0.000	260	0.000	0.044	2850	2503	2291	2411	2171	0	0	0	0	0	0	26.44	26.36	26.50
3248	0.84	117.6	2849	2503	2410	2171	165.1	11.0	440	3253	0.00	1.05	0.00	0.000	1030	0.000	0.038	2853	1795	2290	2410	2171	0	0	0	0	0	0	26.41	26.39	26.44
3381	0.84	118.7	2853	1795	2410	2171	150.5	10.8	454	3385	0.00	1.08	0.00	0.000	292	0.000	0.044	2850	2502	2290	2410	2171	0	0	0	0	0	0	26.45	26.40	26.51
3487	0.86	130.4	2849	2502	2409	2171	139.1	10.1	475	3496	0.00	1.05	2.67	0.588	9254	0.000	0.038	2853	1794	2269	2395	2143	0	0	0	0	0	0	26.45	26.41	25.03
3618	0.90	163.6	2853	1793	2402	2149	127.1	8.8	488	3685	0.08	0.00	57.60	0.571	10790	0.179	0.000	2876	1793	2122	2254	1990	0	0	0	0	0	0	26.35	25.75	25.29
3808	0.90	163.6	2875	1793	2237	1976	104.7	13.8	512	3813	0.00	1.10	0.00	0.000	260	0.000	0.044	2873	2506	2106	2237	1976	0	0	0	0	0	0	26.14	26.09	26.20
3861	0.90	163.6	2872	2505	2236	1974	97.2	13.4	522	3869	0.00	1.05	0.00	0.000	1030	0.000	0.037	2875	1805	2105	2237	1974	0	0	0	0	0	0	26.20	26.17	26.23
4000	0.90	163.6	2875	1805	2236	1973	79.3	11.7	547	4008	0.00	1.10	0.00	0.000	516	0.000	0.054	2881	1095	2104	2236	1973	0	0	0	0	0	0	26.37	26.22	26.38
4071	0.90	163.6	2881	1095	2235	1973	71.2	11.1	560	4080	0.00	1.08	0.00	0.000	1030	0.000	0.094	2878	1801	2104	2235	1973	0	0	0	0	0	0	26.32	26.31	26.39
4208	0.93	187.5	2878	1801	2234	1972	57.6	9.3	585	4239	0.00	1.15	25.20	0.575	8740	0.000	0.045	2882	1090	2030	2168	1893	0	0	0	0	0	0	26.49	26.01	25.44
4282	0.93	187.5	2881	1090	2148	1878	50.1	11.1	597	4290	0.00	1.08	0.00	0.000	1030	0.000	0.034	2879	1797	2012	2147	1877	0	0	0	0	0	0	26.21	26.17	26.23
4422	0.93	192.0	2878	1797	2146	1875	35.7	10.6	622	4429	0.00	1.05	0.00	0.000	292	0.000	0.044	2873	2501	2010	2146	1875	0	0	0	0	0	0	26.39	26.27	26.44
4615	1.00	251.0	2873	2501	2144	1874	20.6	7.2	658	4722	0.08	1.05	101.70	0.503	11302	0.100	0.040	2910	1792	1778	1924	1632	0	0	0	0	0	0	26.24	25.39	25.07
4830	end climb: SURFACE_DEPTH_REACHED
state	4830	begin surface coast
4852	end surface coast: CONTROL_FINISHED_OK
state	4852	begin surface