Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 127 * 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 127 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 240.0

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 240.0 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 127 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 090921,150401,4750.8008,-12510.1240,6,0.9,22,15.7,0.2,249.4,9,8.3 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 0.44 MHEAD_RNG_PITCHd_Wd 88.6,1919,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.3 D_GRID 243

GPS2 090921,151228,4750.8003,-12510.1172,4,0.6,5,15.7,0.4,97.7,12,7.6

Post-dive calculations and measurements:

FINISH -0.4,1.025295 _24V_AH 23.99,21.793

SM_CCo 5068,0.03,2.951,0,0,550,551.92 _10V_AH 10.23,12.093

SM_GC 0.46,7.68,0.28,0.03,0.057,0.052,2.951,183,2008,550,-7.38,-1.44,551.92,0,0,0,0,0,0,25.81,25.74,23.99 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.26,-12509.51,090921,123250 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.152796 MEM 210388

HUMID 51.92 DATA_FILE_SIZE 36865,731

INTERNAL_PRESSURE 8.74779 CAP_FILE_SIZE 93288,0

TCM_TEMP 15.50 CFSIZE 260030464,240263168

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 101568380928.000000 CURRENT 0.020,137.26,1

CP_POWER 323.310000 GPS 090921,163909,4750.738,-12509.531,6,0.7,28,15.7,0.5,53.6,12,1.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 254 109.24 SBE_CT 403 64 622.87

Roll_motor 33 107 87.14 WL_blue_red_Chl 1279 37 1149.40

VBD_pump_during_apogee 562 957 12913.15 nil 0 0 0.00

VBD_pump_during_surface 291 2950 20658.61 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 4576 25 2744.46

Iridium_during_xfer 351 109 923.72 nil 0 0 0.00

Transponder_ping 2 420 20.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.26

TT8 1527 12 190.99

LPSleep 1034 2 23.19

TT8_Active 835 12 104.46

TT8_Sampling 1888 37 728.14

TT8_CF8 320 42 140.91

TT8_Kalman 0 0 0.00

Analog_circuits 1933 11 217.58

GPS_charging 0 0 0.00

Compass 1595 8 134.52

RAFOS 0 0 0.00

Transponder 14 30 4.47

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

26 -0.80 -116.8 167 2030 681 419 0.0 0.0 0 134 0.00 0.00 -105.28 0.011 16386 0.000 0.000 167 2029 3002 2992 3012 0 0 0 0 0 0 26.13 28.83 26.15

137 -0.80 -116.8 167 2029 2992 3012 3.7 -6.7 15 160 8.27 1.00 -5.95 0.020 18724 0.223 0.076 2312 2687 3278 3282 3275 0 0 0 0 0 0 25.77 24.65 25.93

234 -0.80 -116.8 2311 2688 3286 3275 25.3 -17.6 32 243 0.05 1.02 0.00 0.000 3078 0.203 0.032 2324 1973 3280 3286 3275 0 0 0 0 0 0 25.98 26.27 26.08

373 -0.80 -116.8 2324 1973 3290 3274 44.2 -13.7 57 380 0.00 0.95 0.00 0.000 516 0.000 0.038 2330 1330 3282 3290 3275 0 0 0 0 0 0 26.43 26.32 26.48

612 -0.80 -116.8 2329 1330 3291 3274 79.2 -12.8 103 619 0.00 1.00 0.00 0.000 1030 0.000 0.036 2326 1998 3282 3291 3274 0 0 0 0 0 0 26.45 26.43 26.48

746 -0.80 -116.8 2326 1998 3292 3274 95.3 -11.4 128 754 0.00 1.00 0.00 0.000 516 0.000 0.039 2329 1329 3283 3292 3274 0 0 0 0 0 0 26.46 26.44 26.53

991 -0.80 -116.8 2329 1329 3293 3274 123.2 -11.3 174 995 0.00 1.00 0.00 0.000 1030 0.000 0.037 2326 1997 3283 3293 3274 0 0 0 0 0 0 26.48 26.46 26.51

1125 -0.80 -116.8 2326 1997 3293 3274 138.4 -12.3 188 1130 0.00 1.00 0.00 0.000 516 0.000 0.044 2329 1326 3283 3293 3274 0 0 0 0 0 0 26.65 26.51 26.70

1363 -0.80 -116.8 2329 1326 3293 3273 167.8 -11.8 234 1367 0.00 1.00 0.00 0.000 1030 0.000 0.037 2326 1995 3283 3293 3274 0 0 0 0 0 0 26.59 26.55 26.61

1495 -0.80 -116.8 2326 1995 3293 3273 183.3 -11.6 248 1499 0.00 1.00 0.00 0.000 516 0.000 0.047 2329 1324 3283 3294 3273 0 0 0 0 0 0 26.68 26.55 26.74

1528 -0.80 -116.8 2329 1324 3293 3273 187.2 -11.8 254 1532 0.00 1.00 0.00 0.000 1030 0.000 0.036 2326 1995 3283 3293 3273 0 0 0 0 0 0 26.54 26.53 26.59

1661 -0.80 -116.8 2325 1995 3293 3273 202.0 -11.2 268 1666 0.00 1.02 0.00 0.000 260 0.000 0.043 2321 2694 3283 3292 3274 0 0 0 0 0 0 26.68 26.55 26.74

1707 -0.80 -116.8 2320 2694 3293 3273 206.5 -8.9 276 1711 0.00 0.98 0.00 0.000 1062 0.000 0.032 2324 2005 3283 3293 3273 0 0 0 0 0 0 26.64 26.61 26.65

1839 -0.80 -116.8 2323 2003 3293 3273 220.3 -10.7 290 1844 0.00 1.02 0.00 0.000 516 0.000 0.048 2329 1312 3283 3294 3273 0 0 0 0 0 0 26.11 26.46 26.32

1963 -0.80 -116.8 2329 1312 3294 3272 233.9 -10.9 313 1970 0.00 1.02 0.00 0.000 1030 0.000 0.037 2326 1996 3283 3294 3272 0 0 0 0 0 0 26.62 26.59 26.64

2049 end dive: TARGET_DEPTH_EXCEEDED

state 2049 begin apogee

2054 -0.18 0.0 2325 1789 3294 3271 243.2 -10.9 322 2180 0.65 0.00 116.95 0.958 10246 0.159 0.000 2522 1787 2802 2858 2747 0 0 0 0 1 0 26.19 24.94 24.15

2185 end apogee: CONTROL_FINISHED_OK

state 2185 begin climb

2186 0.80 116.8 2521 1787 2863 2753 248.1 0.0 335 2391 1.02 1.02 191.52 0.542 10756 0.117 0.035 2840 1128 2311 2436 2187 0 0 0 0 0 0 25.11 24.91 24.57

2558 0.81 128.0 2840 1128 2416 2178 219.2 9.5 403 2569 0.00 1.05 3.78 0.776 9254 0.000 0.035 2837 1804 2279 2405 2153 0 0 0 0 0 0 25.90 25.86 24.63

2688 0.83 143.0 2836 1804 2410 2154 207.0 9.3 417 2720 0.00 1.10 27.52 0.607 8484 0.000 0.103 2832 2497 2217 2347 2087 0 0 0 0 0 0 26.06 25.30 25.10

2799 0.83 148.2 2831 2497 2336 2074 196.0 9.8 438 2808 0.03 1.02 0.00 0.000 3110 0.209 0.039 2842 1817 2205 2336 2074 0 0 0 0 0 0 25.81 25.88 25.88

2929 0.83 148.2 2841 1817 2334 2074 183.8 10.3 451 2933 0.00 1.10 0.00 0.000 516 0.000 0.057 2847 1111 2204 2334 2074 0 0 0 0 0 0 26.24 26.09 26.29

2964 0.86 170.7 2846 1111 2333 2074 180.0 8.8 458 3013 0.00 1.08 42.55 0.578 9254 0.000 0.105 2844 1803 2101 2238 1964 0 0 0 0 0 0 26.20 26.17 25.11

3135 0.86 170.7 2843 1804 2227 1955 163.3 10.2 479 3139 0.08 1.08 0.00 0.000 2308 0.255 0.046 2853 2501 2091 2228 1955 0 0 0 0 0 0 25.82 26.01 25.96

3179 0.86 170.7 2853 2500 2226 1954 158.6 10.6 487 3183 0.00 1.05 0.00 0.000 1030 0.000 0.047 2857 1806 2090 2226 1954 0 0 0 0 0 0 26.08 26.06 26.10

3312 0.86 172.5 2856 1806 2225 1954 144.9 10.0 501 3317 0.00 1.08 0.00 0.000 548 0.000 0.048 2861 1109 2089 2225 1954 0 0 0 0 0 0 26.33 26.20 26.38

3358 0.88 189.1 2861 1109 2225 1954 140.7 9.2 509 3388 0.00 1.05 22.50 0.611 9254 0.000 0.037 2859 1799 2022 2162 1882 0 0 0 0 0 0 26.29 26.27 25.35

3511 0.90 205.4 2858 1799 2152 1875 126.7 9.2 527 3528 0.00 0.00 14.90 0.642 8230 0.000 0.000 2858 1799 1961 2103 1820 0 0 0 0 0 0 26.25 25.84 25.33

3648 0.90 206.0 2858 1799 2087 1807 112.9 10.1 541 3653 0.00 1.10 0.00 0.000 548 0.000 0.108 2862 1099 1947 2087 1807 0 0 0 0 0 0 26.25 26.14 26.29

3683 0.91 208.5 2862 1099 2086 1807 109.4 10.0 547 3687 0.00 1.08 0.00 0.000 1062 0.000 0.037 2859 1800 1946 2086 1807 0 0 0 0 0 0 26.17 26.15 26.17

3811 0.91 208.5 2858 1800 2084 1806 94.9 12.5 564 3819 0.00 1.05 0.00 0.000 260 0.000 0.107 2853 2502 1945 2084 1806 0 0 0 0 0 0 26.39 26.27 26.44

3928 0.91 208.5 2853 2502 2082 1806 79.9 12.9 586 3936 0.03 1.05 0.00 0.000 3078 0.168 0.044 2872 1794 1944 2082 1806 0 0 0 0 0 0 26.14 26.25 26.20

4062 0.91 208.5 2870 1794 2081 1806 62.7 11.9 611 4070 0.00 1.05 0.00 0.000 516 0.000 0.048 2877 1109 1943 2081 1806 0 0 0 0 0 0 26.46 26.38 26.53

4241 0.91 208.5 2877 1109 2080 1805 39.2 11.2 645 4249 0.00 1.05 0.00 0.000 1030 0.000 0.036 2874 1802 1943 2080 1806 0 0 0 0 0 0 26.49 26.46 26.50

4378 0.91 210.2 2873 1802 2079 1806 24.7 10.0 670 4385 0.00 1.08 0.00 0.000 548 0.000 0.048 2877 1110 1943 2080 1806 0 0 0 0 0 0 26.60 26.42 26.65

4563 1.01 290.6 2877 1110 2078 1805 11.1 5.4 705 4711 0.08 1.05 142.27 0.491 11302 0.116 0.035 2902 1805 1615 1761 1469 0 0 0 0 0 0 26.32 26.53 25.00

4717 end climb: SURFACE_DEPTH_REACHED

state 4718 begin surface coast

4744 end surface coast: CONTROL_FINISHED_OK

state 4744 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	127	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	240.0
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	090921,150401,4750.8008,-12510.1240,6,0.9,22,15.7,0.2,249.4,9,8.3	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	0.44	MHEAD_RNG_PITCHd_Wd	88.6,1919,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.3	D_GRID	243
GPS2	090921,151228,4750.8003,-12510.1172,4,0.6,5,15.7,0.4,97.7,12,7.6

FINISH	-0.4,1.025295	_24V_AH	23.99,21.793
SM_CCo	5068,0.03,2.951,0,0,550,551.92	_10V_AH	10.23,12.093
SM_GC	0.46,7.68,0.28,0.03,0.057,0.052,2.951,183,2008,550,-7.38,-1.44,551.92,0,0,0,0,0,0,25.81,25.74,23.99	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.26,-12509.51,090921,123250	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.152796	MEM	210388
HUMID	51.92	DATA_FILE_SIZE	36865,731
INTERNAL_PRESSURE	8.74779	CAP_FILE_SIZE	93288,0
TCM_TEMP	15.50	CFSIZE	260030464,240263168
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	101568380928.000000	CURRENT	0.020,137.26,1
CP_POWER	323.310000	GPS	090921,163909,4750.738,-12509.531,6,0.7,28,15.7,0.5,53.6,12,1.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	254	109.24	SBE_CT	403	64	622.87
Roll_motor	33	107	87.14	WL_blue_red_Chl	1279	37	1149.40
VBD_pump_during_apogee	562	957	12913.15	nil	0	0	0.00
VBD_pump_during_surface	291	2950	20658.61	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	4576	25	2744.46
Iridium_during_xfer	351	109	923.72	nil	0	0	0.00
Transponder_ping	2	420	20.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.26
TT8	1527	12	190.99
LPSleep	1034	2	23.19
TT8_Active	835	12	104.46
TT8_Sampling	1888	37	728.14
TT8_CF8	320	42	140.91
TT8_Kalman	0	0	0.00
Analog_circuits	1933	11	217.58
GPS_charging	0	0	0.00
Compass	1595	8	134.52
RAFOS	0	0	0.00
Transponder	14	30	4.47

		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
26	-0.80	-116.8	167	2030	681	419	0.0	0.0	0	134	0.00	0.00	-105.28	0.011	16386	0.000	0.000	167	2029	3002	2992	3012	0	0	0	0	0	0	26.13	28.83	26.15
137	-0.80	-116.8	167	2029	2992	3012	3.7	-6.7	15	160	8.27	1.00	-5.95	0.020	18724	0.223	0.076	2312	2687	3278	3282	3275	0	0	0	0	0	0	25.77	24.65	25.93
234	-0.80	-116.8	2311	2688	3286	3275	25.3	-17.6	32	243	0.05	1.02	0.00	0.000	3078	0.203	0.032	2324	1973	3280	3286	3275	0	0	0	0	0	0	25.98	26.27	26.08
373	-0.80	-116.8	2324	1973	3290	3274	44.2	-13.7	57	380	0.00	0.95	0.00	0.000	516	0.000	0.038	2330	1330	3282	3290	3275	0	0	0	0	0	0	26.43	26.32	26.48
612	-0.80	-116.8	2329	1330	3291	3274	79.2	-12.8	103	619	0.00	1.00	0.00	0.000	1030	0.000	0.036	2326	1998	3282	3291	3274	0	0	0	0	0	0	26.45	26.43	26.48
746	-0.80	-116.8	2326	1998	3292	3274	95.3	-11.4	128	754	0.00	1.00	0.00	0.000	516	0.000	0.039	2329	1329	3283	3292	3274	0	0	0	0	0	0	26.46	26.44	26.53
991	-0.80	-116.8	2329	1329	3293	3274	123.2	-11.3	174	995	0.00	1.00	0.00	0.000	1030	0.000	0.037	2326	1997	3283	3293	3274	0	0	0	0	0	0	26.48	26.46	26.51
1125	-0.80	-116.8	2326	1997	3293	3274	138.4	-12.3	188	1130	0.00	1.00	0.00	0.000	516	0.000	0.044	2329	1326	3283	3293	3274	0	0	0	0	0	0	26.65	26.51	26.70
1363	-0.80	-116.8	2329	1326	3293	3273	167.8	-11.8	234	1367	0.00	1.00	0.00	0.000	1030	0.000	0.037	2326	1995	3283	3293	3274	0	0	0	0	0	0	26.59	26.55	26.61
1495	-0.80	-116.8	2326	1995	3293	3273	183.3	-11.6	248	1499	0.00	1.00	0.00	0.000	516	0.000	0.047	2329	1324	3283	3294	3273	0	0	0	0	0	0	26.68	26.55	26.74
1528	-0.80	-116.8	2329	1324	3293	3273	187.2	-11.8	254	1532	0.00	1.00	0.00	0.000	1030	0.000	0.036	2326	1995	3283	3293	3273	0	0	0	0	0	0	26.54	26.53	26.59
1661	-0.80	-116.8	2325	1995	3293	3273	202.0	-11.2	268	1666	0.00	1.02	0.00	0.000	260	0.000	0.043	2321	2694	3283	3292	3274	0	0	0	0	0	0	26.68	26.55	26.74
1707	-0.80	-116.8	2320	2694	3293	3273	206.5	-8.9	276	1711	0.00	0.98	0.00	0.000	1062	0.000	0.032	2324	2005	3283	3293	3273	0	0	0	0	0	0	26.64	26.61	26.65
1839	-0.80	-116.8	2323	2003	3293	3273	220.3	-10.7	290	1844	0.00	1.02	0.00	0.000	516	0.000	0.048	2329	1312	3283	3294	3273	0	0	0	0	0	0	26.11	26.46	26.32
1963	-0.80	-116.8	2329	1312	3294	3272	233.9	-10.9	313	1970	0.00	1.02	0.00	0.000	1030	0.000	0.037	2326	1996	3283	3294	3272	0	0	0	0	0	0	26.62	26.59	26.64
2049	end dive: TARGET_DEPTH_EXCEEDED
state	2049	begin apogee
2054	-0.18	0.0	2325	1789	3294	3271	243.2	-10.9	322	2180	0.65	0.00	116.95	0.958	10246	0.159	0.000	2522	1787	2802	2858	2747	0	0	0	0	1	0	26.19	24.94	24.15
2185	end apogee: CONTROL_FINISHED_OK
state	2185	begin climb
2186	0.80	116.8	2521	1787	2863	2753	248.1	0.0	335	2391	1.02	1.02	191.52	0.542	10756	0.117	0.035	2840	1128	2311	2436	2187	0	0	0	0	0	0	25.11	24.91	24.57
2558	0.81	128.0	2840	1128	2416	2178	219.2	9.5	403	2569	0.00	1.05	3.78	0.776	9254	0.000	0.035	2837	1804	2279	2405	2153	0	0	0	0	0	0	25.90	25.86	24.63
2688	0.83	143.0	2836	1804	2410	2154	207.0	9.3	417	2720	0.00	1.10	27.52	0.607	8484	0.000	0.103	2832	2497	2217	2347	2087	0	0	0	0	0	0	26.06	25.30	25.10
2799	0.83	148.2	2831	2497	2336	2074	196.0	9.8	438	2808	0.03	1.02	0.00	0.000	3110	0.209	0.039	2842	1817	2205	2336	2074	0	0	0	0	0	0	25.81	25.88	25.88
2929	0.83	148.2	2841	1817	2334	2074	183.8	10.3	451	2933	0.00	1.10	0.00	0.000	516	0.000	0.057	2847	1111	2204	2334	2074	0	0	0	0	0	0	26.24	26.09	26.29
2964	0.86	170.7	2846	1111	2333	2074	180.0	8.8	458	3013	0.00	1.08	42.55	0.578	9254	0.000	0.105	2844	1803	2101	2238	1964	0	0	0	0	0	0	26.20	26.17	25.11
3135	0.86	170.7	2843	1804	2227	1955	163.3	10.2	479	3139	0.08	1.08	0.00	0.000	2308	0.255	0.046	2853	2501	2091	2228	1955	0	0	0	0	0	0	25.82	26.01	25.96
3179	0.86	170.7	2853	2500	2226	1954	158.6	10.6	487	3183	0.00	1.05	0.00	0.000	1030	0.000	0.047	2857	1806	2090	2226	1954	0	0	0	0	0	0	26.08	26.06	26.10
3312	0.86	172.5	2856	1806	2225	1954	144.9	10.0	501	3317	0.00	1.08	0.00	0.000	548	0.000	0.048	2861	1109	2089	2225	1954	0	0	0	0	0	0	26.33	26.20	26.38
3358	0.88	189.1	2861	1109	2225	1954	140.7	9.2	509	3388	0.00	1.05	22.50	0.611	9254	0.000	0.037	2859	1799	2022	2162	1882	0	0	0	0	0	0	26.29	26.27	25.35
3511	0.90	205.4	2858	1799	2152	1875	126.7	9.2	527	3528	0.00	0.00	14.90	0.642	8230	0.000	0.000	2858	1799	1961	2103	1820	0	0	0	0	0	0	26.25	25.84	25.33
3648	0.90	206.0	2858	1799	2087	1807	112.9	10.1	541	3653	0.00	1.10	0.00	0.000	548	0.000	0.108	2862	1099	1947	2087	1807	0	0	0	0	0	0	26.25	26.14	26.29
3683	0.91	208.5	2862	1099	2086	1807	109.4	10.0	547	3687	0.00	1.08	0.00	0.000	1062	0.000	0.037	2859	1800	1946	2086	1807	0	0	0	0	0	0	26.17	26.15	26.17
3811	0.91	208.5	2858	1800	2084	1806	94.9	12.5	564	3819	0.00	1.05	0.00	0.000	260	0.000	0.107	2853	2502	1945	2084	1806	0	0	0	0	0	0	26.39	26.27	26.44
3928	0.91	208.5	2853	2502	2082	1806	79.9	12.9	586	3936	0.03	1.05	0.00	0.000	3078	0.168	0.044	2872	1794	1944	2082	1806	0	0	0	0	0	0	26.14	26.25	26.20
4062	0.91	208.5	2870	1794	2081	1806	62.7	11.9	611	4070	0.00	1.05	0.00	0.000	516	0.000	0.048	2877	1109	1943	2081	1806	0	0	0	0	0	0	26.46	26.38	26.53
4241	0.91	208.5	2877	1109	2080	1805	39.2	11.2	645	4249	0.00	1.05	0.00	0.000	1030	0.000	0.036	2874	1802	1943	2080	1806	0	0	0	0	0	0	26.49	26.46	26.50
4378	0.91	210.2	2873	1802	2079	1806	24.7	10.0	670	4385	0.00	1.08	0.00	0.000	548	0.000	0.048	2877	1110	1943	2080	1806	0	0	0	0	0	0	26.60	26.42	26.65
4563	1.01	290.6	2877	1110	2078	1805	11.1	5.4	705	4711	0.08	1.05	142.27	0.491	11302	0.116	0.035	2902	1805	1615	1761	1469	0	0	0	0	0	0	26.32	26.53	25.00
4717	end climb: SURFACE_DEPTH_REACHED
state	4718	begin surface coast
4744	end surface coast: CONTROL_FINISHED_OK
state	4744	begin surface