Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 109 * 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 109 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 51 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 46 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 204.0

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 204.0 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 51 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 46 XPDR_INHIBIT 90

DIVE 109 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 080921,041310,4750.8813,-12510.2334,26,1.0,27,15.7,0.2,0.0,9,5.4 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 0.43 MHEAD_RNG_PITCHd_Wd 92.7,2107,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -57.5 D_GRID 243

GPS2 080921,042025,4750.8550,-12510.2461,6,0.9,8,15.7,0.2,0.0,9,5.6

Post-dive calculations and measurements:

FINISH -0.5,1.025780 CP_POWER1 0.000000

SM_CCo 4881,0.12,0.796,0,0,551,551.92 _24V_AH 24.35,19.395

SM_GC 0.31,7.55,1.40,0.12,0.057,0.035,0.796,166,1982,551,-7.40,-1.61,551.92,0,0,0,0,0,0,26.25,26.18,25.03 _10V_AH 10.24,10.791

IRIDIUM_FIX 4750.87,-12505.04,080921,015112 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.147553 FG_AHR_10Vo 0.000

HUMID 53.46 MEM 211184

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 36783,693

TCM_TEMP 15.20 CAP_FILE_SIZE 87705,0

XPDR_PINGS 0 CFSIZE 260030464,241864704

ALTIM_BOTTOM_PING 212.3,52.4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 108435406848.000000 CURRENT 0.050,325.34,1

CP_POWER 323.310000 GPS 080921,054402,4750.794,-12509.910,31,0.9,32,15.7,0.4,208.7,9,4.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 227 98.62 SBE_CT 395 64 620.33

Roll_motor 32 109 85.57 WL_blue_red_Chl 1255 37 1145.01

VBD_pump_during_apogee 521 671 8523.90 nil 0 0 0.00

VBD_pump_during_surface 198 795 3839.70 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 4500 25 2739.38

Iridium_during_xfer 281 110 761.22 nil 0 0 0.00

Transponder_ping 1 420 15.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.32

TT8 1485 12 185.92

LPSleep 1066 2 23.92

TT8_Active 742 12 92.89

TT8_Sampling 1774 37 684.89

TT8_CF8 279 42 123.05

TT8_Kalman 0 0 0.00

Analog_circuits 1725 11 194.31

GPS_charging 0 0 0.00

Compass 1513 8 127.71

RAFOS 0 0 0.00

Transponder 12 30 3.81

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 -116.8 160 2015 681 420 0.0 0.0 0 131 0.00 0.00 -103.30 0.011 16386 0.000 0.000 160 2013 2973 2962 2985 0 0 0 0 0 0 26.13 28.83 26.20

134 -0.84 -116.8 160 2014 2963 2985 3.7 -7.1 15 158 8.30 1.08 -6.45 0.018 18980 0.227 0.068 2293 1296 3279 3283 3276 0 0 0 0 0 0 25.80 24.77 25.96

389 -0.84 -116.8 2292 1296 3290 3275 52.9 -14.2 63 397 0.08 1.08 0.00 0.000 3078 0.156 0.044 2310 2004 3282 3290 3274 0 0 0 0 0 0 26.09 26.32 26.20

523 -0.84 -116.8 2310 2004 3291 3275 70.2 -12.5 88 531 0.00 1.05 0.00 0.000 516 0.000 0.039 2315 1305 3282 3291 3274 0 0 0 0 0 0 26.50 26.33 26.55

662 -0.84 -116.8 2314 1305 3293 3274 87.9 -11.2 114 670 0.00 1.05 0.00 0.000 1030 0.000 0.037 2312 1997 3283 3293 3274 0 0 0 0 0 0 26.46 26.42 26.48

806 -0.84 -116.8 2311 1997 3293 3274 103.4 -10.5 137 810 0.00 1.05 0.00 0.000 548 0.000 0.039 2315 1297 3284 3294 3274 0 0 0 0 0 0 26.55 26.46 26.61

977 -0.84 -116.8 2314 1296 3294 3274 123.3 -10.8 169 981 0.00 1.05 0.00 0.000 1062 0.000 0.035 2312 1993 3284 3294 3274 0 0 0 0 0 0 26.54 26.52 26.55

1109 -0.84 -116.8 2311 1994 3294 3274 136.5 -10.0 183 1117 0.00 0.00 0.00 0.000 38 0.000 0.000 2312 1993 3284 3294 3274 0 0 0 0 0 0 26.65 26.63 26.66

1239 -0.84 -116.8 2311 1994 3295 3274 150.7 -10.5 196 1248 0.00 0.00 0.00 0.000 38 0.000 0.000 2312 1994 3284 3294 3274 0 0 0 0 0 0 26.63 26.63 26.65

1369 -0.84 -116.8 2311 1994 3294 3274 164.3 -11.5 209 1374 0.00 1.02 0.00 0.000 516 0.000 0.039 2315 1306 3284 3294 3274 0 0 0 0 0 0 26.54 26.55 26.60

1439 -0.84 -116.8 2314 1306 3294 3274 173.6 -10.9 222 1447 0.00 1.05 0.00 0.000 1030 0.000 0.044 2312 2005 3284 3295 3274 0 0 0 0 0 0 26.60 26.58 26.61

1567 -0.84 -116.8 2311 2005 3294 3274 187.9 -11.6 235 1572 0.00 1.05 0.00 0.000 516 0.000 0.040 2315 1303 3284 3295 3273 0 0 0 0 0 0 26.66 26.57 26.72

1601 -0.84 -116.8 2314 1303 3294 3274 192.0 -13.3 241 1604 0.00 1.05 0.00 0.000 1030 0.000 0.035 2312 2001 3284 3294 3274 0 0 0 0 0 0 26.62 26.59 26.64

1734 -0.84 -116.8 2311 2002 3295 3273 207.8 -11.8 255 1738 0.00 1.05 0.00 0.000 516 0.000 0.039 2315 1298 3283 3294 3273 0 0 0 0 0 0 26.60 26.57 26.63

1772 -0.84 -116.8 2314 1298 3294 3273 212.3 -11.5 262 1780 0.00 1.05 0.00 0.000 1030 0.000 0.037 2312 1997 3283 3294 3273 0 0 0 0 0 0 26.63 26.60 26.64

1900 -0.84 -116.8 2311 1997 3293 3273 226.8 -11.4 275 1903 0.00 1.05 0.00 0.000 516 0.000 0.039 2315 1296 3283 3294 3273 0 0 0 0 0 0 26.66 26.58 26.70

1944 -0.84 -116.8 2314 1295 3294 3273 232.3 -11.4 284 1953 0.00 1.08 0.00 0.000 1030 0.000 0.036 2312 2011 3283 3293 3273 0 0 0 0 0 0 26.63 26.59 26.66

2051 end dive: TARGET_DEPTH_EXCEEDED

state 2051 begin apogee

2056 -0.18 0.0 2311 1766 3295 3272 243.9 -10.9 295 2235 0.70 0.00 173.98 0.596 10246 0.166 0.000 2522 1765 2799 2854 2745 0 0 0 0 0 0 26.23 25.25 24.77

2240 end apogee: CONTROL_FINISHED_OK

state 2240 begin climb

2242 0.84 116.8 2521 1765 2844 2735 249.3 0.0 313 2429 1.05 1.02 178.02 0.563 10756 0.116 0.040 2851 1136 2315 2441 2190 0 0 0 0 0 0 25.30 25.10 24.63

2684 0.84 116.8 2851 1135 2416 2179 211.2 11.2 395 2688 0.00 1.02 0.00 0.000 1030 0.000 0.036 2848 1803 2297 2416 2179 0 0 0 0 0 0 26.06 26.03 26.08

2816 0.84 116.8 2847 1802 2416 2177 196.1 11.2 409 2820 0.00 1.05 0.00 0.000 516 0.000 0.045 2851 1136 2296 2416 2177 0 0 0 0 0 0 26.25 26.15 26.31

2977 0.84 116.8 2850 1136 2416 2177 177.8 11.7 439 2982 0.00 1.00 0.00 0.000 1030 0.000 0.037 2848 1797 2296 2416 2177 0 0 0 0 0 0 26.33 26.30 26.35

3110 0.85 121.0 2848 1797 2414 2177 163.3 10.6 453 3118 0.00 0.00 0.00 0.000 38 0.000 0.000 2849 1797 2295 2414 2177 0 0 0 0 0 0 26.44 26.50 26.49

3242 0.85 121.0 2848 1797 2414 2176 149.3 10.9 466 3245 0.00 1.02 0.00 0.000 260 0.000 0.043 2843 2489 2295 2414 2177 0 0 0 0 0 0 26.51 26.39 26.56

3274 0.86 132.8 2842 2489 2413 2176 145.7 10.1 472 3295 0.00 0.98 15.60 0.672 9254 0.000 0.038 2846 1831 2254 2380 2129 0 0 0 0 0 0 26.49 26.44 25.56

3416 0.86 132.8 2845 1831 2367 2118 130.6 11.4 488 3424 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1831 2242 2367 2118 0 0 0 0 0 0 26.41 26.46 26.47

3544 0.86 132.8 2845 1830 2366 2117 115.9 11.2 501 3548 0.00 1.12 0.00 0.000 516 0.000 0.046 2852 1101 2241 2366 2117 0 0 0 0 0 0 26.47 26.34 26.52

3622 0.87 139.1 2851 1100 2366 2117 107.2 10.4 516 3630 0.00 1.05 0.00 0.000 1062 0.000 0.038 2848 1797 2241 2365 2117 0 0 0 0 0 0 26.36 26.35 26.36

3750 0.91 170.2 2847 1797 2365 2116 95.4 8.9 534 3814 0.10 1.05 54.92 0.562 11044 0.193 0.041 2872 2486 2097 2232 1962 0 0 0 0 0 0 26.25 25.64 25.31

3832 0.91 170.2 2871 2486 2223 1951 85.7 13.1 546 3839 0.00 1.02 0.00 0.000 1030 0.000 0.037 2875 1808 2086 2222 1950 0 0 0 0 0 0 26.00 25.96 26.01

3965 0.91 170.2 2875 1807 2218 1947 68.2 14.3 571 3972 0.00 1.10 0.00 0.000 516 0.000 0.109 2880 1105 2082 2217 1947 0 0 0 0 0 0 26.25 26.13 26.30

4081 0.91 170.2 2880 1105 2217 1947 53.9 12.0 593 4089 0.00 1.05 0.00 0.000 1030 0.000 0.035 2877 1797 2082 2217 1947 0 0 0 0 0 0 26.28 26.26 26.31

4217 0.95 210.2 2877 1797 2216 1946 40.1 8.3 618 4283 0.00 1.05 57.12 0.526 8996 0.000 0.041 2872 2485 1933 2075 1791 0 0 0 0 0 0 26.44 25.55 25.24

4306 0.99 240.5 2872 2485 2065 1780 32.6 8.9 631 4357 0.05 1.05 41.53 0.520 11302 0.126 0.037 2897 1790 1811 1957 1666 0 0 0 0 0 0 25.75 25.89 25.07

4483 0.99 240.5 2896 1790 1938 1648 14.4 11.2 662 4490 0.00 1.08 0.00 0.000 516 0.000 0.054 2902 1106 1792 1937 1648 0 0 0 0 0 0 26.10 25.98 26.15

4624 end climb: SURFACE_DEPTH_REACHED

state 4624 begin surface coast

4651 end surface coast: CONTROL_FINISHED_OK

state 4651 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	109	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	51	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	46	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	204.0
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	080921,041310,4750.8813,-12510.2334,26,1.0,27,15.7,0.2,0.0,9,5.4	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	0.43	MHEAD_RNG_PITCHd_Wd	92.7,2107,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-57.5	D_GRID	243
GPS2	080921,042025,4750.8550,-12510.2461,6,0.9,8,15.7,0.2,0.0,9,5.6

FINISH	-0.5,1.025780	CP_POWER1	0.000000
SM_CCo	4881,0.12,0.796,0,0,551,551.92	_24V_AH	24.35,19.395
SM_GC	0.31,7.55,1.40,0.12,0.057,0.035,0.796,166,1982,551,-7.40,-1.61,551.92,0,0,0,0,0,0,26.25,26.18,25.03	_10V_AH	10.24,10.791
IRIDIUM_FIX	4750.87,-12505.04,080921,015112	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.147553	FG_AHR_10Vo	0.000
HUMID	53.46	MEM	211184
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	36783,693
TCM_TEMP	15.20	CAP_FILE_SIZE	87705,0
XPDR_PINGS	0	CFSIZE	260030464,241864704
ALTIM_BOTTOM_PING	212.3,52.4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	108435406848.000000	CURRENT	0.050,325.34,1
CP_POWER	323.310000	GPS	080921,054402,4750.794,-12509.910,31,0.9,32,15.7,0.4,208.7,9,4.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	227	98.62	SBE_CT	395	64	620.33
Roll_motor	32	109	85.57	WL_blue_red_Chl	1255	37	1145.01
VBD_pump_during_apogee	521	671	8523.90	nil	0	0	0.00
VBD_pump_during_surface	198	795	3839.70	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	4500	25	2739.38
Iridium_during_xfer	281	110	761.22	nil	0	0	0.00
Transponder_ping	1	420	15.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.32
TT8	1485	12	185.92
LPSleep	1066	2	23.92
TT8_Active	742	12	92.89
TT8_Sampling	1774	37	684.89
TT8_CF8	279	42	123.05
TT8_Kalman	0	0	0.00
Analog_circuits	1725	11	194.31
GPS_charging	0	0	0.00
Compass	1513	8	127.71
RAFOS	0	0	0.00
Transponder	12	30	3.81

		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	160	2015	681	420	0.0	0.0	0	131	0.00	0.00	-103.30	0.011	16386	0.000	0.000	160	2013	2973	2962	2985	0	0	0	0	0	0	26.13	28.83	26.20
134	-0.84	-116.8	160	2014	2963	2985	3.7	-7.1	15	158	8.30	1.08	-6.45	0.018	18980	0.227	0.068	2293	1296	3279	3283	3276	0	0	0	0	0	0	25.80	24.77	25.96
389	-0.84	-116.8	2292	1296	3290	3275	52.9	-14.2	63	397	0.08	1.08	0.00	0.000	3078	0.156	0.044	2310	2004	3282	3290	3274	0	0	0	0	0	0	26.09	26.32	26.20
523	-0.84	-116.8	2310	2004	3291	3275	70.2	-12.5	88	531	0.00	1.05	0.00	0.000	516	0.000	0.039	2315	1305	3282	3291	3274	0	0	0	0	0	0	26.50	26.33	26.55
662	-0.84	-116.8	2314	1305	3293	3274	87.9	-11.2	114	670	0.00	1.05	0.00	0.000	1030	0.000	0.037	2312	1997	3283	3293	3274	0	0	0	0	0	0	26.46	26.42	26.48
806	-0.84	-116.8	2311	1997	3293	3274	103.4	-10.5	137	810	0.00	1.05	0.00	0.000	548	0.000	0.039	2315	1297	3284	3294	3274	0	0	0	0	0	0	26.55	26.46	26.61
977	-0.84	-116.8	2314	1296	3294	3274	123.3	-10.8	169	981	0.00	1.05	0.00	0.000	1062	0.000	0.035	2312	1993	3284	3294	3274	0	0	0	0	0	0	26.54	26.52	26.55
1109	-0.84	-116.8	2311	1994	3294	3274	136.5	-10.0	183	1117	0.00	0.00	0.00	0.000	38	0.000	0.000	2312	1993	3284	3294	3274	0	0	0	0	0	0	26.65	26.63	26.66
1239	-0.84	-116.8	2311	1994	3295	3274	150.7	-10.5	196	1248	0.00	0.00	0.00	0.000	38	0.000	0.000	2312	1994	3284	3294	3274	0	0	0	0	0	0	26.63	26.63	26.65
1369	-0.84	-116.8	2311	1994	3294	3274	164.3	-11.5	209	1374	0.00	1.02	0.00	0.000	516	0.000	0.039	2315	1306	3284	3294	3274	0	0	0	0	0	0	26.54	26.55	26.60
1439	-0.84	-116.8	2314	1306	3294	3274	173.6	-10.9	222	1447	0.00	1.05	0.00	0.000	1030	0.000	0.044	2312	2005	3284	3295	3274	0	0	0	0	0	0	26.60	26.58	26.61
1567	-0.84	-116.8	2311	2005	3294	3274	187.9	-11.6	235	1572	0.00	1.05	0.00	0.000	516	0.000	0.040	2315	1303	3284	3295	3273	0	0	0	0	0	0	26.66	26.57	26.72
1601	-0.84	-116.8	2314	1303	3294	3274	192.0	-13.3	241	1604	0.00	1.05	0.00	0.000	1030	0.000	0.035	2312	2001	3284	3294	3274	0	0	0	0	0	0	26.62	26.59	26.64
1734	-0.84	-116.8	2311	2002	3295	3273	207.8	-11.8	255	1738	0.00	1.05	0.00	0.000	516	0.000	0.039	2315	1298	3283	3294	3273	0	0	0	0	0	0	26.60	26.57	26.63
1772	-0.84	-116.8	2314	1298	3294	3273	212.3	-11.5	262	1780	0.00	1.05	0.00	0.000	1030	0.000	0.037	2312	1997	3283	3294	3273	0	0	0	0	0	0	26.63	26.60	26.64
1900	-0.84	-116.8	2311	1997	3293	3273	226.8	-11.4	275	1903	0.00	1.05	0.00	0.000	516	0.000	0.039	2315	1296	3283	3294	3273	0	0	0	0	0	0	26.66	26.58	26.70
1944	-0.84	-116.8	2314	1295	3294	3273	232.3	-11.4	284	1953	0.00	1.08	0.00	0.000	1030	0.000	0.036	2312	2011	3283	3293	3273	0	0	0	0	0	0	26.63	26.59	26.66
2051	end dive: TARGET_DEPTH_EXCEEDED
state	2051	begin apogee
2056	-0.18	0.0	2311	1766	3295	3272	243.9	-10.9	295	2235	0.70	0.00	173.98	0.596	10246	0.166	0.000	2522	1765	2799	2854	2745	0	0	0	0	0	0	26.23	25.25	24.77
2240	end apogee: CONTROL_FINISHED_OK
state	2240	begin climb
2242	0.84	116.8	2521	1765	2844	2735	249.3	0.0	313	2429	1.05	1.02	178.02	0.563	10756	0.116	0.040	2851	1136	2315	2441	2190	0	0	0	0	0	0	25.30	25.10	24.63
2684	0.84	116.8	2851	1135	2416	2179	211.2	11.2	395	2688	0.00	1.02	0.00	0.000	1030	0.000	0.036	2848	1803	2297	2416	2179	0	0	0	0	0	0	26.06	26.03	26.08
2816	0.84	116.8	2847	1802	2416	2177	196.1	11.2	409	2820	0.00	1.05	0.00	0.000	516	0.000	0.045	2851	1136	2296	2416	2177	0	0	0	0	0	0	26.25	26.15	26.31
2977	0.84	116.8	2850	1136	2416	2177	177.8	11.7	439	2982	0.00	1.00	0.00	0.000	1030	0.000	0.037	2848	1797	2296	2416	2177	0	0	0	0	0	0	26.33	26.30	26.35
3110	0.85	121.0	2848	1797	2414	2177	163.3	10.6	453	3118	0.00	0.00	0.00	0.000	38	0.000	0.000	2849	1797	2295	2414	2177	0	0	0	0	0	0	26.44	26.50	26.49
3242	0.85	121.0	2848	1797	2414	2176	149.3	10.9	466	3245	0.00	1.02	0.00	0.000	260	0.000	0.043	2843	2489	2295	2414	2177	0	0	0	0	0	0	26.51	26.39	26.56
3274	0.86	132.8	2842	2489	2413	2176	145.7	10.1	472	3295	0.00	0.98	15.60	0.672	9254	0.000	0.038	2846	1831	2254	2380	2129	0	0	0	0	0	0	26.49	26.44	25.56
3416	0.86	132.8	2845	1831	2367	2118	130.6	11.4	488	3424	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1831	2242	2367	2118	0	0	0	0	0	0	26.41	26.46	26.47
3544	0.86	132.8	2845	1830	2366	2117	115.9	11.2	501	3548	0.00	1.12	0.00	0.000	516	0.000	0.046	2852	1101	2241	2366	2117	0	0	0	0	0	0	26.47	26.34	26.52
3622	0.87	139.1	2851	1100	2366	2117	107.2	10.4	516	3630	0.00	1.05	0.00	0.000	1062	0.000	0.038	2848	1797	2241	2365	2117	0	0	0	0	0	0	26.36	26.35	26.36
3750	0.91	170.2	2847	1797	2365	2116	95.4	8.9	534	3814	0.10	1.05	54.92	0.562	11044	0.193	0.041	2872	2486	2097	2232	1962	0	0	0	0	0	0	26.25	25.64	25.31
3832	0.91	170.2	2871	2486	2223	1951	85.7	13.1	546	3839	0.00	1.02	0.00	0.000	1030	0.000	0.037	2875	1808	2086	2222	1950	0	0	0	0	0	0	26.00	25.96	26.01
3965	0.91	170.2	2875	1807	2218	1947	68.2	14.3	571	3972	0.00	1.10	0.00	0.000	516	0.000	0.109	2880	1105	2082	2217	1947	0	0	0	0	0	0	26.25	26.13	26.30
4081	0.91	170.2	2880	1105	2217	1947	53.9	12.0	593	4089	0.00	1.05	0.00	0.000	1030	0.000	0.035	2877	1797	2082	2217	1947	0	0	0	0	0	0	26.28	26.26	26.31
4217	0.95	210.2	2877	1797	2216	1946	40.1	8.3	618	4283	0.00	1.05	57.12	0.526	8996	0.000	0.041	2872	2485	1933	2075	1791	0	0	0	0	0	0	26.44	25.55	25.24
4306	0.99	240.5	2872	2485	2065	1780	32.6	8.9	631	4357	0.05	1.05	41.53	0.520	11302	0.126	0.037	2897	1790	1811	1957	1666	0	0	0	0	0	0	25.75	25.89	25.07
4483	0.99	240.5	2896	1790	1938	1648	14.4	11.2	662	4490	0.00	1.08	0.00	0.000	516	0.000	0.054	2902	1106	1792	1937	1648	0	0	0	0	0	0	26.10	25.98	26.15
4624	end climb: SURFACE_DEPTH_REACHED
state	4624	begin surface coast
4651	end surface coast: CONTROL_FINISHED_OK
state	4651	begin surface