Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 125 * 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 125 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 61 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 236.0

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 236.0 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 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 61 XPDR_INHIBIT 90

DIVE 125 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 090921,105431,4751.4756,-12510.9277,6,0.9,21,15.7,0.4,300.6,9,5.3 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.45 MHEAD_RNG_PITCHd_Wd 125.2,3572,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -64.4 D_GRID 285

GPS2 090921,110021,4751.5381,-12510.9951,4,0.7,6,15.7,0.3,268.3,12,8.6

Post-dive calculations and measurements:

FINISH -0.3,1.025349 CP_POWER1 0.000000

SM_CCo 5287,0.00,0.000,0,0,549,551.92 _24V_AH 24.28,21.504

SM_GC 0.45,7.47,1.40,0.00,0.057,0.030,0.000,189,1992,549,-7.38,-1.47,551.92,0,0,0,0,0,0,26.22,26.19,25.39 _10V_AH 10.24,11.939

IRIDIUM_FIX 4752.03,-12518.46,090921,091632 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.154294 FG_AHR_10Vo 0.000

HUMID 52.00 MEM 209800

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 36803,703

TCM_TEMP 15.30 CAP_FILE_SIZE 94971,0

XPDR_PINGS 0 CFSIZE 260030464,240451584

ALTIM_BOTTOM_PING 212.7,44.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 102394134528.000000 CURRENT 0.028,352.59,1

CP_POWER 323.310000 GPS 090921,123039,4751.219,-12510.544,7,0.8,25,15.7,0.3,311.1,12,1.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 95.86 SBE_CT 425 64 665.38

Roll_motor 33 98 81.35 WL_blue_red_Chl 1347 37 1225.23

VBD_pump_during_apogee 544 764 10102.61 nil 0 0 0.00

VBD_pump_during_surface 310 545 4106.45 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 4775 25 2898.43

Iridium_during_xfer 220 104 561.73 nil 0 0 0.00

Transponder_ping 1 420 17.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.13

TT8 1598 12 200.00

LPSleep 1155 2 25.92

TT8_Active 894 12 111.98

TT8_Sampling 1732 37 668.65

TT8_CF8 294 42 129.50

TT8_Kalman 0 0 0.00

Analog_circuits 1833 11 206.52

GPS_charging 0 0 0.00

Compass 1562 8 131.83

RAFOS 0 0 0.00

Transponder 15 30 4.67

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 -0.80 -116.8 167 2034 686 414 0.0 0.0 0 132 0.00 0.00 -104.82 0.011 16386 0.000 0.000 167 2036 3028 3016 3040 0 0 0 0 0 0 26.11 28.83 26.17

135 -0.80 -116.8 167 2036 3017 3040 4.3 -8.9 15 153 8.30 1.15 -5.22 0.020 19236 0.223 0.073 2321 1307 3279 3280 3278 0 0 0 0 0 0 25.78 24.68 25.94

248 -0.80 -116.8 2321 1301 3287 3276 29.0 -18.3 35 255 0.00 1.05 0.00 0.000 1030 0.000 0.037 2317 1986 3281 3287 3276 0 0 0 0 0 0 26.27 26.25 26.30

380 -0.80 -116.8 2316 1986 3290 3276 50.1 -14.6 60 388 0.00 1.05 0.00 0.000 260 0.000 0.041 2312 2697 3282 3289 3276 0 0 0 0 0 0 26.41 26.31 26.47

396 -0.80 -116.8 2311 2697 3290 3275 52.4 -14.3 62 404 0.03 1.02 0.00 0.000 3078 0.218 0.031 2320 1978 3283 3290 3276 0 0 0 0 0 0 26.19 26.36 26.23

532 -0.80 -116.8 2320 1978 3291 3275 70.3 -13.4 87 539 0.00 0.98 0.00 0.000 516 0.000 0.041 2325 1321 3283 3291 3275 0 0 0 0 0 0 26.51 26.37 26.56

773 -0.80 -116.8 2325 1321 3293 3275 97.0 -10.1 133 780 0.00 1.02 0.00 0.000 1062 0.000 0.036 2322 2007 3284 3293 3275 0 0 0 0 0 0 26.49 26.47 26.53

904 -0.80 -116.8 2322 2007 3293 3275 112.0 -11.1 148 906 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2007 3284 3293 3275 0 0 0 0 0 0 26.59 26.65 26.63

1024 -0.80 -116.8 2322 2007 3294 3275 125.8 -11.9 160 1028 0.00 1.00 0.00 0.000 260 0.000 0.051 2317 2689 3284 3294 3274 0 0 0 0 0 0 26.58 26.49 26.63

1046 -0.80 -116.8 2316 2689 3294 3274 128.6 -12.1 164 1051 0.00 0.98 0.00 0.000 1030 0.000 0.031 2320 2003 3283 3294 3273 0 0 0 0 0 0 26.55 26.53 26.57

1181 -0.80 -116.8 2319 2002 3294 3274 144.1 -11.4 178 1185 0.00 1.02 0.00 0.000 260 0.000 0.043 2317 2692 3284 3294 3274 0 0 0 0 0 0 26.57 26.50 26.63

1213 -0.80 -116.8 2316 2691 3294 3274 148.1 -11.6 184 1218 0.00 0.98 0.00 0.000 1030 0.000 0.041 2319 2007 3284 3295 3274 0 0 0 0 0 0 26.51 26.47 26.53

1346 -0.80 -116.8 2319 2006 3294 3274 162.7 -10.8 198 1350 0.00 1.02 0.00 0.000 516 0.000 0.039 2321 1314 3283 3294 3273 0 0 0 0 0 0 26.67 26.54 26.72

1444 -0.80 -116.8 2320 1313 3294 3274 173.4 -10.8 217 1451 0.00 1.02 0.00 0.000 1030 0.000 0.044 2318 1998 3284 3295 3274 0 0 0 0 0 0 26.60 26.57 26.60

1571 -0.80 -116.8 2317 1998 3295 3274 185.6 -8.8 230 1579 0.00 0.00 0.00 0.000 38 0.000 0.000 2317 1997 3284 3294 3274 0 0 0 0 0 0 26.61 26.68 26.66

1701 -0.80 -116.8 2317 1998 3294 3274 198.2 -9.6 243 1705 0.00 1.02 0.00 0.000 292 0.000 0.041 2313 2700 3284 3295 3274 0 0 0 0 0 0 26.70 26.56 26.77

1735 -0.80 -116.8 2312 2700 3294 3274 201.3 -9.9 249 1742 0.00 1.00 0.00 0.000 1062 0.000 0.031 2316 1995 3284 3294 3274 0 0 0 0 0 0 26.64 26.56 26.63

1872 -0.80 -116.8 2315 1995 3295 3274 214.8 -9.9 263 1880 0.00 0.00 0.00 0.000 38 0.000 0.000 2316 1995 3284 3295 3273 0 0 0 0 0 0 26.63 26.71 26.69

2003 -0.80 -116.8 2315 1994 3294 3274 228.5 -10.6 276 2008 0.00 1.00 0.00 0.000 516 0.000 0.086 2319 1319 3284 3295 3273 0 0 0 0 0 0 26.73 26.39 26.72

2067 -0.80 -116.8 2320 1318 3295 3273 235.8 -11.3 288 2072 0.00 1.02 0.00 0.000 1030 0.000 0.037 2317 2004 3284 3295 3273 0 0 0 0 0 0 26.63 26.60 26.65

2088 end dive: BOTTOM_OBSTACLE_DETECTED

state 2088 begin apogee

2093 -0.18 0.0 2317 1787 3294 3273 238.2 -10.8 291 2321 0.70 0.00 218.15 0.562 10246 0.162 0.000 2524 1785 2794 2848 2740 0 0 0 0 0 0 26.18 25.06 24.75

2326 end apogee: CONTROL_FINISHED_OK

state 2326 begin climb

2328 0.80 116.8 2524 1785 2842 2736 247.4 0.0 314 2523 1.00 1.05 182.82 0.542 10756 0.115 0.036 2838 1135 2311 2437 2186 0 0 0 0 0 0 25.32 24.91 24.61

2604 0.81 123.7 2837 1135 2417 2176 229.5 9.7 365 2611 0.00 1.02 0.00 0.000 1062 0.000 0.036 2834 1793 2295 2417 2174 0 0 0 0 0 0 25.68 25.65 25.70

2733 0.81 123.7 2833 1792 2414 2172 216.8 10.4 378 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1792 2293 2414 2172 0 0 0 0 0 0 26.03 26.09 26.08

2861 0.81 131.1 2833 1792 2412 2171 203.5 9.7 391 2873 0.00 1.10 5.78 0.764 8484 0.000 0.044 2829 2499 2268 2395 2142 0 0 0 0 0 0 26.10 25.92 25.29

2920 0.82 135.8 2828 2499 2395 2141 197.5 9.9 402 2940 0.00 1.00 10.23 0.699 9254 0.000 0.044 2832 1829 2239 2368 2110 0 0 0 0 0 0 26.06 26.04 25.31

3059 0.82 135.8 2832 1829 2363 2108 183.0 11.1 417 3064 0.00 1.12 0.00 0.000 516 0.000 0.045 2838 1099 2235 2363 2108 0 0 0 0 0 0 26.19 26.13 26.25

3085 0.82 135.8 2837 1100 2363 2108 180.0 10.3 422 3094 0.00 1.08 0.00 0.000 1030 0.000 0.035 2834 1801 2235 2363 2108 0 0 0 0 0 0 26.21 26.19 26.23

3214 0.82 136.0 2834 1801 2362 2108 167.0 10.1 435 3217 0.00 1.02 0.00 0.000 292 0.000 0.044 2829 2489 2234 2361 2107 0 0 0 0 0 0 26.37 26.25 26.43

3301 0.82 140.0 2829 2489 2361 2106 158.3 9.9 451 3305 0.00 1.02 0.00 0.000 1062 0.000 0.045 2833 1798 2234 2361 2107 0 0 0 0 0 0 26.34 26.33 26.38

3434 0.85 162.0 2833 1799 2360 2107 146.2 8.9 465 3483 0.10 0.00 41.67 0.587 10278 0.202 0.000 2855 1798 2131 2266 1996 0 0 0 0 0 0 26.11 25.65 25.33

3605 0.86 171.2 2854 1798 2258 1992 130.1 9.6 482 3613 0.00 0.00 2.72 0.682 8230 0.000 0.000 2855 1798 2102 2240 1965 0 0 0 0 0 0 26.22 25.83 24.82

3735 0.88 183.5 2854 1798 2242 1965 118.0 9.4 495 3753 0.00 0.00 14.77 0.643 8742 0.000 0.000 2855 1798 2049 2189 1910 0 0 0 0 0 0 26.25 25.88 25.36

3875 0.90 200.9 2854 1798 2177 1900 105.1 9.1 510 3895 0.08 0.00 16.40 0.624 10534 0.191 0.000 2873 1798 1981 2122 1841 0 0 0 0 0 0 26.06 25.82 25.33

4018 0.90 200.9 2872 1798 2107 1828 90.5 10.6 533 4026 0.00 1.08 0.00 0.000 516 0.000 0.047 2878 1106 1967 2107 1828 0 0 0 0 0 0 26.22 26.15 26.28

4105 0.90 200.9 2877 1106 2105 1828 80.4 10.8 549 4112 0.00 1.08 0.00 0.000 1030 0.000 0.099 2875 1801 1966 2105 1828 0 0 0 0 0 0 26.28 26.25 26.29

4238 0.90 206.1 2874 1801 2105 1827 66.4 9.8 574 4246 0.00 1.05 0.00 0.000 292 0.000 0.044 2869 2506 1966 2105 1827 0 0 0 0 0 0 26.41 26.30 26.46

4305 0.91 211.2 2869 2506 2103 1827 59.8 9.8 586 4314 0.00 1.05 3.22 0.583 9254 0.000 0.044 2873 1802 1937 2078 1797 0 0 0 0 0 0 26.32 26.27 25.13

4442 0.91 211.2 2872 1801 2082 1796 47.5 10.3 611 4449 0.00 1.08 0.00 0.000 516 0.000 0.047 2878 1099 1939 2082 1796 0 0 0 0 0 0 26.47 26.34 26.53

4626 0.91 211.2 2878 1099 2081 1796 27.1 11.3 646 4633 0.00 1.08 0.00 0.000 1030 0.000 0.044 2875 1809 1938 2081 1796 0 0 0 0 0 0 26.46 26.44 26.50

4763 0.95 241.4 2874 1809 2081 1796 14.2 8.4 671 4819 0.00 1.12 48.67 0.520 8740 0.000 0.044 2879 1102 1809 1954 1664 0 0 0 0 0 0 26.59 25.70 25.37

4918 end climb: SURFACE_DEPTH_REACHED

state 4918 begin surface coast

4945 end surface coast: CONTROL_FINISHED_OK

state 4945 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	125	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	61	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	236.0
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	090921,105431,4751.4756,-12510.9277,6,0.9,21,15.7,0.4,300.6,9,5.3	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.45	MHEAD_RNG_PITCHd_Wd	125.2,3572,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-64.4	D_GRID	285
GPS2	090921,110021,4751.5381,-12510.9951,4,0.7,6,15.7,0.3,268.3,12,8.6

FINISH	-0.3,1.025349	CP_POWER1	0.000000
SM_CCo	5287,0.00,0.000,0,0,549,551.92	_24V_AH	24.28,21.504
SM_GC	0.45,7.47,1.40,0.00,0.057,0.030,0.000,189,1992,549,-7.38,-1.47,551.92,0,0,0,0,0,0,26.22,26.19,25.39	_10V_AH	10.24,11.939
IRIDIUM_FIX	4752.03,-12518.46,090921,091632	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.154294	FG_AHR_10Vo	0.000
HUMID	52.00	MEM	209800
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	36803,703
TCM_TEMP	15.30	CAP_FILE_SIZE	94971,0
XPDR_PINGS	0	CFSIZE	260030464,240451584
ALTIM_BOTTOM_PING	212.7,44.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	102394134528.000000	CURRENT	0.028,352.59,1
CP_POWER	323.310000	GPS	090921,123039,4751.219,-12510.544,7,0.8,25,15.7,0.3,311.1,12,1.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	95.86	SBE_CT	425	64	665.38
Roll_motor	33	98	81.35	WL_blue_red_Chl	1347	37	1225.23
VBD_pump_during_apogee	544	764	10102.61	nil	0	0	0.00
VBD_pump_during_surface	310	545	4106.45	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	4775	25	2898.43
Iridium_during_xfer	220	104	561.73	nil	0	0	0.00
Transponder_ping	1	420	17.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.13
TT8	1598	12	200.00
LPSleep	1155	2	25.92
TT8_Active	894	12	111.98
TT8_Sampling	1732	37	668.65
TT8_CF8	294	42	129.50
TT8_Kalman	0	0	0.00
Analog_circuits	1833	11	206.52
GPS_charging	0	0	0.00
Compass	1562	8	131.83
RAFOS	0	0	0.00
Transponder	15	30	4.67

		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	-0.80	-116.8	167	2034	686	414	0.0	0.0	0	132	0.00	0.00	-104.82	0.011	16386	0.000	0.000	167	2036	3028	3016	3040	0	0	0	0	0	0	26.11	28.83	26.17
135	-0.80	-116.8	167	2036	3017	3040	4.3	-8.9	15	153	8.30	1.15	-5.22	0.020	19236	0.223	0.073	2321	1307	3279	3280	3278	0	0	0	0	0	0	25.78	24.68	25.94
248	-0.80	-116.8	2321	1301	3287	3276	29.0	-18.3	35	255	0.00	1.05	0.00	0.000	1030	0.000	0.037	2317	1986	3281	3287	3276	0	0	0	0	0	0	26.27	26.25	26.30
380	-0.80	-116.8	2316	1986	3290	3276	50.1	-14.6	60	388	0.00	1.05	0.00	0.000	260	0.000	0.041	2312	2697	3282	3289	3276	0	0	0	0	0	0	26.41	26.31	26.47
396	-0.80	-116.8	2311	2697	3290	3275	52.4	-14.3	62	404	0.03	1.02	0.00	0.000	3078	0.218	0.031	2320	1978	3283	3290	3276	0	0	0	0	0	0	26.19	26.36	26.23
532	-0.80	-116.8	2320	1978	3291	3275	70.3	-13.4	87	539	0.00	0.98	0.00	0.000	516	0.000	0.041	2325	1321	3283	3291	3275	0	0	0	0	0	0	26.51	26.37	26.56
773	-0.80	-116.8	2325	1321	3293	3275	97.0	-10.1	133	780	0.00	1.02	0.00	0.000	1062	0.000	0.036	2322	2007	3284	3293	3275	0	0	0	0	0	0	26.49	26.47	26.53
904	-0.80	-116.8	2322	2007	3293	3275	112.0	-11.1	148	906	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2007	3284	3293	3275	0	0	0	0	0	0	26.59	26.65	26.63
1024	-0.80	-116.8	2322	2007	3294	3275	125.8	-11.9	160	1028	0.00	1.00	0.00	0.000	260	0.000	0.051	2317	2689	3284	3294	3274	0	0	0	0	0	0	26.58	26.49	26.63
1046	-0.80	-116.8	2316	2689	3294	3274	128.6	-12.1	164	1051	0.00	0.98	0.00	0.000	1030	0.000	0.031	2320	2003	3283	3294	3273	0	0	0	0	0	0	26.55	26.53	26.57
1181	-0.80	-116.8	2319	2002	3294	3274	144.1	-11.4	178	1185	0.00	1.02	0.00	0.000	260	0.000	0.043	2317	2692	3284	3294	3274	0	0	0	0	0	0	26.57	26.50	26.63
1213	-0.80	-116.8	2316	2691	3294	3274	148.1	-11.6	184	1218	0.00	0.98	0.00	0.000	1030	0.000	0.041	2319	2007	3284	3295	3274	0	0	0	0	0	0	26.51	26.47	26.53
1346	-0.80	-116.8	2319	2006	3294	3274	162.7	-10.8	198	1350	0.00	1.02	0.00	0.000	516	0.000	0.039	2321	1314	3283	3294	3273	0	0	0	0	0	0	26.67	26.54	26.72
1444	-0.80	-116.8	2320	1313	3294	3274	173.4	-10.8	217	1451	0.00	1.02	0.00	0.000	1030	0.000	0.044	2318	1998	3284	3295	3274	0	0	0	0	0	0	26.60	26.57	26.60
1571	-0.80	-116.8	2317	1998	3295	3274	185.6	-8.8	230	1579	0.00	0.00	0.00	0.000	38	0.000	0.000	2317	1997	3284	3294	3274	0	0	0	0	0	0	26.61	26.68	26.66
1701	-0.80	-116.8	2317	1998	3294	3274	198.2	-9.6	243	1705	0.00	1.02	0.00	0.000	292	0.000	0.041	2313	2700	3284	3295	3274	0	0	0	0	0	0	26.70	26.56	26.77
1735	-0.80	-116.8	2312	2700	3294	3274	201.3	-9.9	249	1742	0.00	1.00	0.00	0.000	1062	0.000	0.031	2316	1995	3284	3294	3274	0	0	0	0	0	0	26.64	26.56	26.63
1872	-0.80	-116.8	2315	1995	3295	3274	214.8	-9.9	263	1880	0.00	0.00	0.00	0.000	38	0.000	0.000	2316	1995	3284	3295	3273	0	0	0	0	0	0	26.63	26.71	26.69
2003	-0.80	-116.8	2315	1994	3294	3274	228.5	-10.6	276	2008	0.00	1.00	0.00	0.000	516	0.000	0.086	2319	1319	3284	3295	3273	0	0	0	0	0	0	26.73	26.39	26.72
2067	-0.80	-116.8	2320	1318	3295	3273	235.8	-11.3	288	2072	0.00	1.02	0.00	0.000	1030	0.000	0.037	2317	2004	3284	3295	3273	0	0	0	0	0	0	26.63	26.60	26.65
2088	end dive: BOTTOM_OBSTACLE_DETECTED
state	2088	begin apogee
2093	-0.18	0.0	2317	1787	3294	3273	238.2	-10.8	291	2321	0.70	0.00	218.15	0.562	10246	0.162	0.000	2524	1785	2794	2848	2740	0	0	0	0	0	0	26.18	25.06	24.75
2326	end apogee: CONTROL_FINISHED_OK
state	2326	begin climb
2328	0.80	116.8	2524	1785	2842	2736	247.4	0.0	314	2523	1.00	1.05	182.82	0.542	10756	0.115	0.036	2838	1135	2311	2437	2186	0	0	0	0	0	0	25.32	24.91	24.61
2604	0.81	123.7	2837	1135	2417	2176	229.5	9.7	365	2611	0.00	1.02	0.00	0.000	1062	0.000	0.036	2834	1793	2295	2417	2174	0	0	0	0	0	0	25.68	25.65	25.70
2733	0.81	123.7	2833	1792	2414	2172	216.8	10.4	378	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1792	2293	2414	2172	0	0	0	0	0	0	26.03	26.09	26.08
2861	0.81	131.1	2833	1792	2412	2171	203.5	9.7	391	2873	0.00	1.10	5.78	0.764	8484	0.000	0.044	2829	2499	2268	2395	2142	0	0	0	0	0	0	26.10	25.92	25.29
2920	0.82	135.8	2828	2499	2395	2141	197.5	9.9	402	2940	0.00	1.00	10.23	0.699	9254	0.000	0.044	2832	1829	2239	2368	2110	0	0	0	0	0	0	26.06	26.04	25.31
3059	0.82	135.8	2832	1829	2363	2108	183.0	11.1	417	3064	0.00	1.12	0.00	0.000	516	0.000	0.045	2838	1099	2235	2363	2108	0	0	0	0	0	0	26.19	26.13	26.25
3085	0.82	135.8	2837	1100	2363	2108	180.0	10.3	422	3094	0.00	1.08	0.00	0.000	1030	0.000	0.035	2834	1801	2235	2363	2108	0	0	0	0	0	0	26.21	26.19	26.23
3214	0.82	136.0	2834	1801	2362	2108	167.0	10.1	435	3217	0.00	1.02	0.00	0.000	292	0.000	0.044	2829	2489	2234	2361	2107	0	0	0	0	0	0	26.37	26.25	26.43
3301	0.82	140.0	2829	2489	2361	2106	158.3	9.9	451	3305	0.00	1.02	0.00	0.000	1062	0.000	0.045	2833	1798	2234	2361	2107	0	0	0	0	0	0	26.34	26.33	26.38
3434	0.85	162.0	2833	1799	2360	2107	146.2	8.9	465	3483	0.10	0.00	41.67	0.587	10278	0.202	0.000	2855	1798	2131	2266	1996	0	0	0	0	0	0	26.11	25.65	25.33
3605	0.86	171.2	2854	1798	2258	1992	130.1	9.6	482	3613	0.00	0.00	2.72	0.682	8230	0.000	0.000	2855	1798	2102	2240	1965	0	0	0	0	0	0	26.22	25.83	24.82
3735	0.88	183.5	2854	1798	2242	1965	118.0	9.4	495	3753	0.00	0.00	14.77	0.643	8742	0.000	0.000	2855	1798	2049	2189	1910	0	0	0	0	0	0	26.25	25.88	25.36
3875	0.90	200.9	2854	1798	2177	1900	105.1	9.1	510	3895	0.08	0.00	16.40	0.624	10534	0.191	0.000	2873	1798	1981	2122	1841	0	0	0	0	0	0	26.06	25.82	25.33
4018	0.90	200.9	2872	1798	2107	1828	90.5	10.6	533	4026	0.00	1.08	0.00	0.000	516	0.000	0.047	2878	1106	1967	2107	1828	0	0	0	0	0	0	26.22	26.15	26.28
4105	0.90	200.9	2877	1106	2105	1828	80.4	10.8	549	4112	0.00	1.08	0.00	0.000	1030	0.000	0.099	2875	1801	1966	2105	1828	0	0	0	0	0	0	26.28	26.25	26.29
4238	0.90	206.1	2874	1801	2105	1827	66.4	9.8	574	4246	0.00	1.05	0.00	0.000	292	0.000	0.044	2869	2506	1966	2105	1827	0	0	0	0	0	0	26.41	26.30	26.46
4305	0.91	211.2	2869	2506	2103	1827	59.8	9.8	586	4314	0.00	1.05	3.22	0.583	9254	0.000	0.044	2873	1802	1937	2078	1797	0	0	0	0	0	0	26.32	26.27	25.13
4442	0.91	211.2	2872	1801	2082	1796	47.5	10.3	611	4449	0.00	1.08	0.00	0.000	516	0.000	0.047	2878	1099	1939	2082	1796	0	0	0	0	0	0	26.47	26.34	26.53
4626	0.91	211.2	2878	1099	2081	1796	27.1	11.3	646	4633	0.00	1.08	0.00	0.000	1030	0.000	0.044	2875	1809	1938	2081	1796	0	0	0	0	0	0	26.46	26.44	26.50
4763	0.95	241.4	2874	1809	2081	1796	14.2	8.4	671	4819	0.00	1.12	48.67	0.520	8740	0.000	0.044	2879	1102	1809	1954	1664	0	0	0	0	0	0	26.59	25.70	25.37
4918	end climb: SURFACE_DEPTH_REACHED
state	4918	begin surface coast
4945	end surface coast: CONTROL_FINISHED_OK
state	4945	begin surface