Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 122 * 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 122 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 58 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 350 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 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 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 230.0

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 350 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 115

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 235

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 230.0 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 58 XPDR_INHIBIT 90

DIVE 122 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 090921,051910,4749.9248,-12510.2549,7,1.0,18,15.7,0.1,0.0,10,5.5 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME SE_SLOPE_OFF

_XMS_NAKs 0 TGT_LATLONG 4749.750,-12509.500

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.46 MHEAD_RNG_PITCHd_Wd 79.6,956,-23.7,-10.145,-28.04,1140

_SM_ANGLEo -62.9 D_GRID 279

GPS2 090921,052531,4749.9067,-12510.2324,6,1.0,8,15.7,0.1,0.0,10,6.8

Post-dive calculations and measurements:

FINISH -0.5,1.009036 _24V_AH 24.28,21.119

SM_CCo 5160,0.00,0.000,0,0,550,551.92 _10V_AH 10.17,11.726

SM_GC 0.55,7.75,0.28,0.00,0.060,0.047,0.000,174,2009,550,-7.39,-1.44,551.92,0,0,0,0,0,0,26.10,26.10,25.40 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,090921,033257 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.219457 MEM 209756

HUMID 52.99 DATA_FILE_SIZE 40152,743

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 89034,0

TCM_TEMP 15.30 CFSIZE 260030464,240717824

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

CP_FREE 103503462400.000000 CURRENT 0.048,323.53,1

CP_POWER 323.310000 GPS 090921,065339,4750.062,-12509.722,18,0.8,19,15.7,0.6,124.2,10,7.6

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 227 99.57 SBE_CT 416 64 651.60

Roll_motor 31 76 58.83 WL_blue_red_Chl 1317 37 1198.39

VBD_pump_during_apogee 492 587 7020.51 nil 0 0 0.00

VBD_pump_during_surface 214 619 3221.53 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 4768 25 2894.18

Iridium_during_xfer 246 101 608.14 nil 0 0 0.00

Transponder_ping 2 420 28.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 11 2.44

TT8 1587 12 197.25

LPSleep 1130 2 25.17

TT8_Active 724 12 90.09

TT8_Sampling 1847 37 708.23

TT8_CF8 292 42 127.84

TT8_Kalman 0 0 0.00

Analog_circuits 1686 11 188.67

GPS_charging 0 0 0.00

Compass 1643 8 137.71

RAFOS 0 0 0.00

Transponder 19 30 5.99

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 -0.94 -75.7 177 2029 690 410 0.0 0.0 0 132 0.00 0.00 -105.25 0.011 16386 0.000 0.000 177 2027 3030 3017 3043 0 0 0 0 0 0 26.05 28.83 26.13

135 -0.97 -101.8 177 2028 3018 3043 4.0 -7.8 15 152 8.12 1.02 -3.88 0.024 18724 0.227 0.076 2263 2690 3217 3218 3217 0 0 0 0 0 0 25.75 24.68 25.91

253 -0.97 -101.8 2262 2690 3226 3217 32.7 -19.1 36 262 0.00 1.02 0.00 0.000 1030 0.000 0.036 2265 1979 3221 3227 3216 0 0 0 0 0 0 26.20 26.22 26.22

387 -0.97 -101.8 2265 1978 3230 3216 54.3 -14.5 61 395 0.00 0.98 0.00 0.000 516 0.000 0.041 2270 1321 3223 3231 3215 0 0 0 0 0 0 26.39 26.31 26.44

634 -0.97 -101.8 2270 1321 3232 3215 87.8 -12.7 107 641 0.00 1.00 0.00 0.000 1030 0.000 0.044 2268 1982 3223 3232 3215 0 0 0 0 0 0 26.45 26.42 26.48

767 -0.97 -101.8 2267 1981 3233 3215 104.2 -13.1 129 770 0.00 1.00 0.00 0.000 516 0.000 0.038 2270 1314 3223 3233 3214 0 0 0 0 0 0 26.56 26.46 26.62

1012 -0.97 -101.8 2270 1314 3233 3214 139.3 -14.6 175 1016 0.00 1.05 0.00 0.000 1030 0.000 0.037 2267 2013 3223 3233 3214 0 0 0 0 0 0 26.48 26.49 26.49

1144 -0.97 -101.8 2267 2013 3233 3214 156.6 -12.1 189 1148 0.00 1.02 0.00 0.000 516 0.000 0.038 2270 1326 3223 3233 3214 0 0 0 0 0 0 26.51 26.52 26.56

1307 -0.97 -101.8 2270 1326 3233 3213 177.6 -13.0 219 1311 0.00 1.00 0.00 0.000 1030 0.000 0.037 2267 1990 3223 3233 3213 0 0 0 0 0 0 26.58 26.53 26.59

1441 -0.97 -101.8 2267 1991 3233 3213 194.9 -12.7 233 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 1990 3223 3233 3213 0 0 0 0 0 0 26.66 26.72 26.72

1569 -0.97 -101.8 2267 1991 3233 3213 212.4 -13.6 246 1574 0.00 1.00 0.00 0.000 516 0.000 0.040 2270 1321 3223 3233 3213 0 0 0 0 0 0 26.54 26.55 26.60

1638 -0.97 -101.8 2270 1321 3233 3213 222.0 -13.1 259 1647 0.00 1.02 0.00 0.000 1030 0.000 0.036 2267 2008 3223 3234 3212 0 0 0 0 0 0 26.60 26.57 26.63

1767 -0.97 -101.8 2267 2008 3233 3212 238.7 -13.7 272 1772 0.00 1.02 0.00 0.000 516 0.000 0.040 2270 1320 3222 3233 3212 0 0 0 0 0 0 26.72 26.53 26.77

1781 -0.97 -101.8 2270 1320 3234 3211 241.3 -13.8 275 1790 0.00 1.02 0.00 0.000 1030 0.000 0.037 2268 2006 3222 3233 3212 0 0 0 0 0 0 26.58 26.55 26.61

1910 -0.97 -101.8 2266 2006 3233 3211 257.1 -12.6 288 1915 0.00 1.00 0.00 0.000 260 0.000 0.041 2262 2694 3222 3234 3211 0 0 0 0 0 0 26.70 26.58 26.75

1987 -0.97 -101.8 2262 2694 3233 3211 266.5 -11.7 302 1991 0.00 1.00 0.00 0.000 1030 0.000 0.033 2265 1996 3222 3233 3211 0 0 0 0 0 0 26.65 26.63 26.67

2089 end dive: TARGET_DEPTH_EXCEEDED

state 2089 begin apogee

2094 -0.18 0.0 2267 1782 3233 3211 279.3 -12.4 313 2279 0.82 0.00 175.30 0.588 10246 0.157 0.000 2517 1781 2793 2844 2742 0 0 0 0 0 0 26.12 25.13 24.77

2284 end apogee: CONTROL_FINISHED_OK

state 2284 begin climb

2286 0.97 101.8 2517 1781 2838 2738 284.1 0.0 332 2460 1.20 1.08 165.18 0.565 10756 0.115 0.039 2893 1132 2379 2496 2262 0 0 0 0 0 0 25.36 25.10 24.60

2505 0.97 101.8 2893 1132 2470 2242 266.5 12.1 372 2510 0.00 1.05 0.00 0.000 1030 0.000 0.037 2891 1792 2356 2470 2242 0 0 0 0 0 0 25.54 25.51 25.57

2638 0.97 101.8 2890 1792 2467 2237 250.0 12.3 386 2643 0.00 1.10 0.00 0.000 260 0.000 0.048 2886 2507 2352 2467 2237 0 0 0 0 0 0 25.86 25.87 25.89

2890 0.97 101.8 2885 2506 2462 2236 219.0 12.1 432 2894 0.00 1.02 0.00 0.000 1030 0.000 0.040 2889 1822 2349 2462 2236 0 0 0 0 0 0 26.23 26.20 26.25

3023 0.97 101.8 2888 1822 2462 2235 202.6 12.3 446 3030 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 1822 2349 2462 2236 0 0 0 0 0 0 26.39 26.46 26.45

3152 0.97 101.8 2888 1821 2461 2235 186.0 12.9 459 3156 0.00 1.05 0.00 0.000 260 0.000 0.045 2886 2507 2348 2461 2235 0 0 0 0 0 0 26.47 26.28 26.53

3207 0.97 101.8 2885 2508 2459 2236 178.7 12.9 470 3215 0.00 1.05 0.00 0.000 1030 0.000 0.041 2889 1803 2347 2459 2236 0 0 0 0 0 0 26.34 26.29 26.36

3337 0.97 101.8 2888 1804 2459 2236 163.0 12.4 483 3341 0.00 1.08 0.00 0.000 516 0.000 0.052 2894 1108 2347 2459 2236 0 0 0 0 0 0 26.54 26.31 26.60

3451 0.97 101.8 2892 1108 2459 2236 148.2 12.8 505 3455 0.00 1.05 0.00 0.000 1030 0.000 0.037 2891 1798 2348 2460 2236 0 0 0 0 0 0 26.48 26.46 26.51

3584 0.97 101.8 2891 1798 2458 2236 131.3 12.5 519 3588 0.00 1.05 0.00 0.000 260 0.000 0.046 2887 2502 2346 2457 2235 0 0 0 0 0 0 26.58 26.41 26.65

3669 0.97 101.8 2885 2501 2457 2236 121.3 11.7 535 3673 0.00 1.05 0.00 0.000 1030 0.000 0.038 2890 1794 2346 2457 2236 0 0 0 0 0 0 26.49 26.47 26.53

3801 0.97 101.8 2889 1793 2457 2236 106.3 11.6 549 3803 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1793 2346 2457 2235 0 0 0 0 0 0 26.60 26.67 26.67

3922 0.97 101.8 2889 1793 2457 2236 91.7 12.9 567 3929 0.00 1.08 0.00 0.000 516 0.000 0.047 2895 1094 2346 2457 2236 0 0 0 0 0 0 26.63 26.51 26.71

4065 0.97 101.8 2894 1094 2457 2236 74.3 12.5 593 4073 0.00 1.08 0.00 0.000 1030 0.000 0.037 2892 1801 2346 2457 2236 0 0 0 0 0 0 26.53 26.55 26.54

4202 0.97 101.8 2891 1801 2456 2235 56.6 12.2 618 4210 0.00 1.02 0.00 0.000 260 0.000 0.051 2887 2487 2345 2456 2235 0 0 0 0 0 0 26.63 26.44 26.70

4218 0.97 101.8 2886 2487 2456 2234 54.6 12.1 620 4225 0.00 1.02 0.00 0.000 1030 0.000 0.046 2890 1794 2345 2456 2234 0 0 0 0 0 0 26.58 26.56 26.62

4355 1.03 157.6 2889 1793 2456 2234 42.5 5.1 645 4440 0.10 0.00 79.28 0.522 10534 0.174 0.000 2922 1793 2154 2282 2027 0 0 0 0 0 0 26.41 25.72 25.25

4567 1.08 194.7 2923 1793 2255 1998 30.9 6.8 681 4624 0.00 1.12 53.92 0.509 8740 0.000 0.047 2927 1105 2003 2141 1866 0 0 0 0 0 0 26.18 25.60 25.10

4858 1.13 234.0 2927 1105 2101 1837 3.0 6.6 734 4881 0.05 1.08 18.48 0.511 11298 0.148 0.044 2939 1799 1916 2055 1778 0 0 0 0 0 0 25.94 26.15 26.04

4881 end climb: SURFACE_DEPTH_REACHED

state 4882 begin surface coast

4914 end surface coast: CONTROL_FINISHED_OK

state 4914 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	122	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	58	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	350	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	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	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	230.0
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	090921,051910,4749.9248,-12510.2549,7,1.0,18,15.7,0.1,0.0,10,5.5	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	SE_SLOPE_OFF
_XMS_NAKs	0	TGT_LATLONG	4749.750,-12509.500
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.46	MHEAD_RNG_PITCHd_Wd	79.6,956,-23.7,-10.145,-28.04,1140
_SM_ANGLEo	-62.9	D_GRID	279
GPS2	090921,052531,4749.9067,-12510.2324,6,1.0,8,15.7,0.1,0.0,10,6.8

FINISH	-0.5,1.009036	_24V_AH	24.28,21.119
SM_CCo	5160,0.00,0.000,0,0,550,551.92	_10V_AH	10.17,11.726
SM_GC	0.55,7.75,0.28,0.00,0.060,0.047,0.000,174,2009,550,-7.39,-1.44,551.92,0,0,0,0,0,0,26.10,26.10,25.40	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,090921,033257	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.219457	MEM	209756
HUMID	52.99	DATA_FILE_SIZE	40152,743
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	89034,0
TCM_TEMP	15.30	CFSIZE	260030464,240717824
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	103503462400.000000	CURRENT	0.048,323.53,1
CP_POWER	323.310000	GPS	090921,065339,4750.062,-12509.722,18,0.8,19,15.7,0.6,124.2,10,7.6
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	227	99.57	SBE_CT	416	64	651.60
Roll_motor	31	76	58.83	WL_blue_red_Chl	1317	37	1198.39
VBD_pump_during_apogee	492	587	7020.51	nil	0	0	0.00
VBD_pump_during_surface	214	619	3221.53	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	4768	25	2894.18
Iridium_during_xfer	246	101	608.14	nil	0	0	0.00
Transponder_ping	2	420	28.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	11	2.44
TT8	1587	12	197.25
LPSleep	1130	2	25.17
TT8_Active	724	12	90.09
TT8_Sampling	1847	37	708.23
TT8_CF8	292	42	127.84
TT8_Kalman	0	0	0.00
Analog_circuits	1686	11	188.67
GPS_charging	0	0	0.00
Compass	1643	8	137.71
RAFOS	0	0	0.00
Transponder	19	30	5.99

		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	-0.94	-75.7	177	2029	690	410	0.0	0.0	0	132	0.00	0.00	-105.25	0.011	16386	0.000	0.000	177	2027	3030	3017	3043	0	0	0	0	0	0	26.05	28.83	26.13
135	-0.97	-101.8	177	2028	3018	3043	4.0	-7.8	15	152	8.12	1.02	-3.88	0.024	18724	0.227	0.076	2263	2690	3217	3218	3217	0	0	0	0	0	0	25.75	24.68	25.91
253	-0.97	-101.8	2262	2690	3226	3217	32.7	-19.1	36	262	0.00	1.02	0.00	0.000	1030	0.000	0.036	2265	1979	3221	3227	3216	0	0	0	0	0	0	26.20	26.22	26.22
387	-0.97	-101.8	2265	1978	3230	3216	54.3	-14.5	61	395	0.00	0.98	0.00	0.000	516	0.000	0.041	2270	1321	3223	3231	3215	0	0	0	0	0	0	26.39	26.31	26.44
634	-0.97	-101.8	2270	1321	3232	3215	87.8	-12.7	107	641	0.00	1.00	0.00	0.000	1030	0.000	0.044	2268	1982	3223	3232	3215	0	0	0	0	0	0	26.45	26.42	26.48
767	-0.97	-101.8	2267	1981	3233	3215	104.2	-13.1	129	770	0.00	1.00	0.00	0.000	516	0.000	0.038	2270	1314	3223	3233	3214	0	0	0	0	0	0	26.56	26.46	26.62
1012	-0.97	-101.8	2270	1314	3233	3214	139.3	-14.6	175	1016	0.00	1.05	0.00	0.000	1030	0.000	0.037	2267	2013	3223	3233	3214	0	0	0	0	0	0	26.48	26.49	26.49
1144	-0.97	-101.8	2267	2013	3233	3214	156.6	-12.1	189	1148	0.00	1.02	0.00	0.000	516	0.000	0.038	2270	1326	3223	3233	3214	0	0	0	0	0	0	26.51	26.52	26.56
1307	-0.97	-101.8	2270	1326	3233	3213	177.6	-13.0	219	1311	0.00	1.00	0.00	0.000	1030	0.000	0.037	2267	1990	3223	3233	3213	0	0	0	0	0	0	26.58	26.53	26.59
1441	-0.97	-101.8	2267	1991	3233	3213	194.9	-12.7	233	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	1990	3223	3233	3213	0	0	0	0	0	0	26.66	26.72	26.72
1569	-0.97	-101.8	2267	1991	3233	3213	212.4	-13.6	246	1574	0.00	1.00	0.00	0.000	516	0.000	0.040	2270	1321	3223	3233	3213	0	0	0	0	0	0	26.54	26.55	26.60
1638	-0.97	-101.8	2270	1321	3233	3213	222.0	-13.1	259	1647	0.00	1.02	0.00	0.000	1030	0.000	0.036	2267	2008	3223	3234	3212	0	0	0	0	0	0	26.60	26.57	26.63
1767	-0.97	-101.8	2267	2008	3233	3212	238.7	-13.7	272	1772	0.00	1.02	0.00	0.000	516	0.000	0.040	2270	1320	3222	3233	3212	0	0	0	0	0	0	26.72	26.53	26.77
1781	-0.97	-101.8	2270	1320	3234	3211	241.3	-13.8	275	1790	0.00	1.02	0.00	0.000	1030	0.000	0.037	2268	2006	3222	3233	3212	0	0	0	0	0	0	26.58	26.55	26.61
1910	-0.97	-101.8	2266	2006	3233	3211	257.1	-12.6	288	1915	0.00	1.00	0.00	0.000	260	0.000	0.041	2262	2694	3222	3234	3211	0	0	0	0	0	0	26.70	26.58	26.75
1987	-0.97	-101.8	2262	2694	3233	3211	266.5	-11.7	302	1991	0.00	1.00	0.00	0.000	1030	0.000	0.033	2265	1996	3222	3233	3211	0	0	0	0	0	0	26.65	26.63	26.67
2089	end dive: TARGET_DEPTH_EXCEEDED
state	2089	begin apogee
2094	-0.18	0.0	2267	1782	3233	3211	279.3	-12.4	313	2279	0.82	0.00	175.30	0.588	10246	0.157	0.000	2517	1781	2793	2844	2742	0	0	0	0	0	0	26.12	25.13	24.77
2284	end apogee: CONTROL_FINISHED_OK
state	2284	begin climb
2286	0.97	101.8	2517	1781	2838	2738	284.1	0.0	332	2460	1.20	1.08	165.18	0.565	10756	0.115	0.039	2893	1132	2379	2496	2262	0	0	0	0	0	0	25.36	25.10	24.60
2505	0.97	101.8	2893	1132	2470	2242	266.5	12.1	372	2510	0.00	1.05	0.00	0.000	1030	0.000	0.037	2891	1792	2356	2470	2242	0	0	0	0	0	0	25.54	25.51	25.57
2638	0.97	101.8	2890	1792	2467	2237	250.0	12.3	386	2643	0.00	1.10	0.00	0.000	260	0.000	0.048	2886	2507	2352	2467	2237	0	0	0	0	0	0	25.86	25.87	25.89
2890	0.97	101.8	2885	2506	2462	2236	219.0	12.1	432	2894	0.00	1.02	0.00	0.000	1030	0.000	0.040	2889	1822	2349	2462	2236	0	0	0	0	0	0	26.23	26.20	26.25
3023	0.97	101.8	2888	1822	2462	2235	202.6	12.3	446	3030	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	1822	2349	2462	2236	0	0	0	0	0	0	26.39	26.46	26.45
3152	0.97	101.8	2888	1821	2461	2235	186.0	12.9	459	3156	0.00	1.05	0.00	0.000	260	0.000	0.045	2886	2507	2348	2461	2235	0	0	0	0	0	0	26.47	26.28	26.53
3207	0.97	101.8	2885	2508	2459	2236	178.7	12.9	470	3215	0.00	1.05	0.00	0.000	1030	0.000	0.041	2889	1803	2347	2459	2236	0	0	0	0	0	0	26.34	26.29	26.36
3337	0.97	101.8	2888	1804	2459	2236	163.0	12.4	483	3341	0.00	1.08	0.00	0.000	516	0.000	0.052	2894	1108	2347	2459	2236	0	0	0	0	0	0	26.54	26.31	26.60
3451	0.97	101.8	2892	1108	2459	2236	148.2	12.8	505	3455	0.00	1.05	0.00	0.000	1030	0.000	0.037	2891	1798	2348	2460	2236	0	0	0	0	0	0	26.48	26.46	26.51
3584	0.97	101.8	2891	1798	2458	2236	131.3	12.5	519	3588	0.00	1.05	0.00	0.000	260	0.000	0.046	2887	2502	2346	2457	2235	0	0	0	0	0	0	26.58	26.41	26.65
3669	0.97	101.8	2885	2501	2457	2236	121.3	11.7	535	3673	0.00	1.05	0.00	0.000	1030	0.000	0.038	2890	1794	2346	2457	2236	0	0	0	0	0	0	26.49	26.47	26.53
3801	0.97	101.8	2889	1793	2457	2236	106.3	11.6	549	3803	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	1793	2346	2457	2235	0	0	0	0	0	0	26.60	26.67	26.67
3922	0.97	101.8	2889	1793	2457	2236	91.7	12.9	567	3929	0.00	1.08	0.00	0.000	516	0.000	0.047	2895	1094	2346	2457	2236	0	0	0	0	0	0	26.63	26.51	26.71
4065	0.97	101.8	2894	1094	2457	2236	74.3	12.5	593	4073	0.00	1.08	0.00	0.000	1030	0.000	0.037	2892	1801	2346	2457	2236	0	0	0	0	0	0	26.53	26.55	26.54
4202	0.97	101.8	2891	1801	2456	2235	56.6	12.2	618	4210	0.00	1.02	0.00	0.000	260	0.000	0.051	2887	2487	2345	2456	2235	0	0	0	0	0	0	26.63	26.44	26.70
4218	0.97	101.8	2886	2487	2456	2234	54.6	12.1	620	4225	0.00	1.02	0.00	0.000	1030	0.000	0.046	2890	1794	2345	2456	2234	0	0	0	0	0	0	26.58	26.56	26.62
4355	1.03	157.6	2889	1793	2456	2234	42.5	5.1	645	4440	0.10	0.00	79.28	0.522	10534	0.174	0.000	2922	1793	2154	2282	2027	0	0	0	0	0	0	26.41	25.72	25.25
4567	1.08	194.7	2923	1793	2255	1998	30.9	6.8	681	4624	0.00	1.12	53.92	0.509	8740	0.000	0.047	2927	1105	2003	2141	1866	0	0	0	0	0	0	26.18	25.60	25.10
4858	1.13	234.0	2927	1105	2101	1837	3.0	6.6	734	4881	0.05	1.08	18.48	0.511	11298	0.148	0.044	2939	1799	1916	2055	1778	0	0	0	0	0	0	25.94	26.15	26.04
4881	end climb: SURFACE_DEPTH_REACHED
state	4882	begin surface coast
4914	end surface coast: CONTROL_FINISHED_OK
state	4914	begin surface