Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 149 * 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 149 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 51 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 59 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 0

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 0 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 280.0

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 280.0 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 0 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 0 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 59 XPDR_INHIBIT 90

DIVE 149 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 110921,055852,4751.2480,-12510.3701,7,0.8,8,15.7,0.2,0.0,12,8.2 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 0.51 MHEAD_RNG_PITCHd_Wd 102.6,2598,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -64.5 D_GRID 263

GPS2 110921,060236,4751.2461,-12510.3398,4,1.0,5,15.7,0.1,0.0,12,8.4

Post-dive calculations and measurements:

FINISH -0.3,1.025272 _10V_AH 10.16,13.555

SM_CCo 4979,-0.08,0.612,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.44,7.55,0.28,-0.08,0.058,0.055,0.612,168,2002,550,-7.40,-1.36,551.92,0,0,0,0,0,0,26.11,26.06,24.95 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,110921,043233 MEM 209832

TT8_MAMPS 0.021721,0.219457 DATA_FILE_SIZE 36870,698

HUMID 54.17 CAP_FILE_SIZE 85159,0

INTERNAL_PRESSURE 8.72826 CFSIZE 260030464,238780416

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.032,266.55,1

ALTIM_BOTTOM_PING 180.1,78.2 GPS 110921,072731,4751.010,-12509.883,9,0.9,27,15.7,0.2,159.9,10,2.7

_24V_AH 24.30,24.548

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 94.50 SBE_CT 410 64 642.64

Roll_motor 37 66 60.32 WL_blue_red_Chl 1303 37 1186.05

VBD_pump_during_apogee 548 636 8489.54 nil 0 0 0.00

VBD_pump_during_surface 185 621 2798.22 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 0 0 0.00

Iridium_during_xfer 139 87 296.64 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.06

TT8 1531 12 190.10

LPSleep 1084 2 24.12

TT8_Active 770 12 95.70

TT8_Sampling 1575 37 603.26

TT8_CF8 267 42 116.65

TT8_Kalman 0 0 0.00

Analog_circuits 1627 11 181.84

GPS_charging 0 0 0.00

Compass 1557 8 130.38

RAFOS 0 0 0.00

Transponder 7 30 2.26

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.80 -116.8 164 2016 688 411 0.0 0.0 0 115 0.00 0.00 -105.28 0.004 16386 0.000 0.000 164 2016 3043 3030 3056 0 0 0 0 0 0 26.32 28.83 26.37

118 -0.80 -116.8 164 2016 3031 3056 4.4 -8.8 15 136 8.35 1.05 -4.75 0.017 18724 0.210 0.067 2320 2698 3279 3279 3279 0 0 0 0 0 0 25.77 24.66 25.93

278 -0.80 -116.8 2319 2698 3287 3277 35.9 -15.0 44 286 0.00 1.02 0.00 0.000 1030 0.000 0.027 2323 1987 3282 3287 3277 0 0 0 0 0 0 26.40 26.36 26.41

410 -0.80 -116.8 2322 1986 3290 3276 54.8 -14.0 69 418 0.00 1.00 0.00 0.000 516 0.000 0.034 2323 1315 3283 3290 3276 0 0 0 0 0 0 26.67 26.40 26.72

592 -0.80 -116.8 2323 1315 3291 3275 81.7 -15.3 102 599 0.00 1.02 0.00 0.000 1030 0.000 0.031 2320 1996 3283 3291 3275 0 0 0 0 0 0 26.54 26.51 26.56

729 -0.80 -116.8 2319 1997 3292 3275 99.7 -11.5 127 736 0.00 1.02 0.00 0.000 260 0.000 0.037 2314 2697 3283 3292 3275 0 0 0 0 0 0 26.81 26.54 26.86

766 -0.80 -116.8 2314 2697 3292 3275 103.8 -10.8 133 769 0.00 1.00 0.00 0.000 1030 0.000 0.026 2318 1994 3283 3293 3274 0 0 0 0 0 0 26.63 26.60 26.65

897 -0.80 -116.8 2317 1993 3293 3275 118.1 -10.9 147 901 0.00 1.00 0.00 0.000 516 0.000 0.034 2323 1312 3283 3292 3275 0 0 0 0 0 0 26.84 26.59 26.91

1061 -0.80 -116.8 2322 1311 3293 3275 136.3 -10.9 178 1069 0.00 1.02 0.00 0.000 1030 0.000 0.031 2319 1999 3284 3293 3275 0 0 0 0 0 0 26.68 26.65 26.71

1187 -0.80 -116.8 2318 1999 3293 3274 149.3 -10.2 191 1191 0.00 1.02 0.00 0.000 516 0.000 0.033 2322 1310 3283 3293 3274 0 0 0 0 0 0 26.94 26.65 26.98

1232 -0.80 -116.8 2322 1310 3293 3274 154.7 -11.2 200 1241 0.00 1.02 0.00 0.000 1030 0.000 0.030 2319 1999 3284 3293 3275 0 0 0 0 0 0 26.74 26.68 26.74

1362 -0.80 -116.8 2319 1999 3293 3274 168.2 -10.7 213 1365 0.00 1.02 0.00 0.000 260 0.000 0.037 2314 2707 3283 3293 3274 0 0 0 0 0 0 26.97 26.68 27.01

1405 -0.80 -116.8 2313 2707 3292 3274 172.8 -10.5 221 1409 0.00 1.00 0.00 0.000 1030 0.000 0.026 2317 1997 3283 3293 3274 0 0 0 0 0 0 26.77 26.74 26.79

1537 -0.80 -116.8 2316 1997 3294 3274 186.4 -10.5 235 1541 0.00 0.98 0.00 0.000 516 0.000 0.034 2322 1326 3283 3293 3274 0 0 0 0 0 0 26.98 26.71 27.03

1572 -0.80 -116.8 2321 1326 3293 3274 190.4 -10.3 242 1580 0.00 1.00 0.00 0.000 1030 0.000 0.031 2319 2001 3283 3292 3274 0 0 0 0 0 0 26.77 26.74 26.79

1702 -0.80 -116.8 2318 2001 3293 3275 202.8 -10.2 255 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2001 3284 3294 3274 0 0 0 0 0 0 27.01 27.07 27.05

1830 -0.80 -116.8 2319 2002 3293 3274 216.7 -11.1 268 1835 0.00 1.00 0.00 0.000 516 0.000 0.033 2322 1322 3283 3293 3274 0 0 0 0 0 0 27.02 26.74 27.08

1894 -0.80 -116.8 2321 1322 3294 3274 223.1 -9.8 280 1899 0.00 1.00 0.00 0.000 1062 0.000 0.031 2319 1999 3283 3293 3274 0 0 0 0 0 0 26.79 26.77 26.82

2027 -0.80 -116.8 2318 1999 3293 3274 236.9 -10.3 294 2031 0.00 1.00 0.00 0.000 516 0.000 0.034 2322 1322 3283 3293 3274 0 0 0 0 0 0 27.04 26.76 27.10

2040 end dive: BOTTOM_OBSTACLE_DETECTED

state 2040 begin apogee

2045 -0.18 0.0 2320 1820 3293 3274 238.6 -10.1 297 2235 0.70 0.00 185.35 0.577 10246 0.156 0.000 2523 1821 2799 2853 2745 0 0 0 0 0 0 26.30 25.29 24.79

2236 end apogee: CONTROL_FINISHED_OK

state 2236 begin climb

2237 0.80 116.8 2523 1821 2844 2737 242.4 0.0 316 2425 1.00 0.00 176.32 0.549 10758 0.116 0.000 2833 1821 2311 2438 2184 0 0 0 0 0 0 25.32 24.96 24.65

2546 0.80 118.2 2832 1821 2414 2164 220.5 10.1 363 2550 0.00 1.02 0.00 0.000 292 0.000 0.039 2830 2488 2289 2414 2164 0 0 0 0 0 0 26.06 25.83 26.11

2591 0.80 118.2 2829 2489 2413 2161 215.4 10.5 372 2599 0.00 1.00 0.00 0.000 1030 0.000 0.031 2833 1825 2287 2413 2162 0 0 0 0 0 0 25.98 25.96 26.01

2721 0.80 118.2 2833 1824 2412 2161 201.4 11.2 385 2726 0.00 1.12 0.00 0.000 516 0.000 0.041 2840 1102 2286 2412 2161 0 0 0 0 0 0 26.39 26.14 26.45

2838 0.80 118.2 2838 1102 2411 2161 188.2 10.8 408 2847 0.00 1.05 0.00 0.000 1030 0.000 0.030 2836 1798 2285 2410 2161 0 0 0 0 0 0 26.32 26.29 26.34

2967 0.80 118.2 2835 1799 2410 2161 174.6 11.0 421 2972 0.00 1.05 0.00 0.000 260 0.000 0.037 2830 2502 2285 2410 2161 0 0 0 0 0 0 26.62 26.36 26.67

3045 0.80 118.2 2829 2502 2409 2161 165.6 11.1 436 3052 0.00 1.05 0.00 0.000 1030 0.000 0.031 2833 1791 2285 2409 2161 0 0 0 0 0 0 26.46 26.44 26.48

3173 0.80 118.6 2833 1791 2409 2160 152.7 10.1 449 3177 0.00 1.05 0.00 0.000 548 0.000 0.041 2840 1105 2285 2409 2161 0 0 0 0 0 0 26.73 26.46 26.79

3219 0.80 118.6 2838 1106 2409 2161 147.6 10.3 458 3227 0.00 1.05 0.00 0.000 1030 0.000 0.031 2835 1802 2285 2409 2161 0 0 0 0 0 0 26.53 26.51 26.57

3346 0.80 121.1 2835 1802 2408 2161 135.1 10.0 471 3350 0.00 1.08 0.00 0.000 548 0.000 0.039 2839 1108 2284 2408 2161 0 0 0 0 0 0 26.79 26.52 26.86

3370 0.80 121.1 2838 1108 2407 2161 132.3 10.6 476 3378 0.00 1.05 0.00 0.000 1030 0.000 0.029 2835 1806 2284 2408 2161 0 0 0 0 0 0 26.59 26.56 26.60

3501 0.82 132.0 2835 1806 2406 2161 120.0 9.5 489 3509 0.00 0.00 2.50 0.457 8230 0.000 0.000 2836 1806 2265 2394 2137 0 0 0 0 0 0 26.84 26.15 25.05

3629 0.85 157.4 2835 1806 2403 2144 108.6 8.7 502 3689 0.10 0.00 50.90 0.547 10278 0.219 0.000 2857 1806 2147 2281 2013 0 0 0 0 0 0 26.39 25.94 25.46

3810 0.85 157.4 2856 1806 2256 1991 89.8 11.3 529 3818 0.00 1.10 0.00 0.000 516 0.000 0.040 2862 1109 2123 2256 1991 0 0 0 0 0 0 26.49 26.23 26.55

3912 0.85 157.4 2861 1109 2255 1991 78.5 11.1 548 3919 0.00 1.05 0.00 0.000 1030 0.000 0.031 2858 1799 2123 2255 1991 0 0 0 0 0 0 26.38 26.34 26.40

4050 0.87 175.2 2858 1799 2254 1990 65.8 9.1 573 4059 0.00 1.08 4.30 0.636 8484 0.000 0.037 2853 2504 2087 2225 1950 0 0 0 0 0 0 26.67 26.21 25.49

4087 0.90 200.0 2853 2505 2234 1953 62.4 8.7 579 4139 0.00 1.05 48.67 0.526 9254 0.000 0.031 2857 1795 1986 2126 1847 0 0 0 0 0 0 26.44 26.41 25.32

4265 0.90 200.0 2856 1795 2089 1810 44.3 10.8 610 4273 0.00 1.08 0.00 0.000 260 0.000 0.037 2853 2495 1949 2089 1810 0 0 0 0 0 0 26.41 26.15 26.46

4280 0.90 200.0 2853 2495 2088 1810 42.6 10.4 612 4288 0.00 1.05 0.00 0.000 1030 0.000 0.032 2857 1793 1949 2088 1810 0 0 0 0 0 0 26.23 26.20 26.27

4416 0.91 214.3 2856 1793 2087 1809 28.8 9.3 637 4426 0.08 1.10 2.35 0.354 10788 0.168 0.042 2883 1098 1927 2070 1785 0 0 0 0 0 0 26.31 26.03 25.09

4576 0.96 255.1 2882 1098 2082 1792 15.5 7.8 667 4665 0.00 1.08 78.50 0.493 9254 0.000 0.031 2879 1807 1748 1895 1602 0 0 0 0 0 0 26.46 26.42 25.19

4738 end climb: SURFACE_DEPTH_REACHED

state 4738 begin surface coast

4766 end surface coast: CONTROL_FINISHED_OK

state 4766 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	149	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	51	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	59	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	0
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	0	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	280.0
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	110921,055852,4751.2480,-12510.3701,7,0.8,8,15.7,0.2,0.0,12,8.2	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	0.51	MHEAD_RNG_PITCHd_Wd	102.6,2598,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-64.5	D_GRID	263
GPS2	110921,060236,4751.2461,-12510.3398,4,1.0,5,15.7,0.1,0.0,12,8.4

FINISH	-0.3,1.025272	_10V_AH	10.16,13.555
SM_CCo	4979,-0.08,0.612,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.44,7.55,0.28,-0.08,0.058,0.055,0.612,168,2002,550,-7.40,-1.36,551.92,0,0,0,0,0,0,26.11,26.06,24.95	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,110921,043233	MEM	209832
TT8_MAMPS	0.021721,0.219457	DATA_FILE_SIZE	36870,698
HUMID	54.17	CAP_FILE_SIZE	85159,0
INTERNAL_PRESSURE	8.72826	CFSIZE	260030464,238780416
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.032,266.55,1
ALTIM_BOTTOM_PING	180.1,78.2	GPS	110921,072731,4751.010,-12509.883,9,0.9,27,15.7,0.2,159.9,10,2.7
_24V_AH	24.30,24.548

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	94.50	SBE_CT	410	64	642.64
Roll_motor	37	66	60.32	WL_blue_red_Chl	1303	37	1186.05
VBD_pump_during_apogee	548	636	8489.54	nil	0	0	0.00
VBD_pump_during_surface	185	621	2798.22	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	0	0	0.00
Iridium_during_xfer	139	87	296.64	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.06
TT8	1531	12	190.10
LPSleep	1084	2	24.12
TT8_Active	770	12	95.70
TT8_Sampling	1575	37	603.26
TT8_CF8	267	42	116.65
TT8_Kalman	0	0	0.00
Analog_circuits	1627	11	181.84
GPS_charging	0	0	0.00
Compass	1557	8	130.38
RAFOS	0	0	0.00
Transponder	7	30	2.26

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.80	-116.8	164	2016	688	411	0.0	0.0	0	115	0.00	0.00	-105.28	0.004	16386	0.000	0.000	164	2016	3043	3030	3056	0	0	0	0	0	0	26.32	28.83	26.37
118	-0.80	-116.8	164	2016	3031	3056	4.4	-8.8	15	136	8.35	1.05	-4.75	0.017	18724	0.210	0.067	2320	2698	3279	3279	3279	0	0	0	0	0	0	25.77	24.66	25.93
278	-0.80	-116.8	2319	2698	3287	3277	35.9	-15.0	44	286	0.00	1.02	0.00	0.000	1030	0.000	0.027	2323	1987	3282	3287	3277	0	0	0	0	0	0	26.40	26.36	26.41
410	-0.80	-116.8	2322	1986	3290	3276	54.8	-14.0	69	418	0.00	1.00	0.00	0.000	516	0.000	0.034	2323	1315	3283	3290	3276	0	0	0	0	0	0	26.67	26.40	26.72
592	-0.80	-116.8	2323	1315	3291	3275	81.7	-15.3	102	599	0.00	1.02	0.00	0.000	1030	0.000	0.031	2320	1996	3283	3291	3275	0	0	0	0	0	0	26.54	26.51	26.56
729	-0.80	-116.8	2319	1997	3292	3275	99.7	-11.5	127	736	0.00	1.02	0.00	0.000	260	0.000	0.037	2314	2697	3283	3292	3275	0	0	0	0	0	0	26.81	26.54	26.86
766	-0.80	-116.8	2314	2697	3292	3275	103.8	-10.8	133	769	0.00	1.00	0.00	0.000	1030	0.000	0.026	2318	1994	3283	3293	3274	0	0	0	0	0	0	26.63	26.60	26.65
897	-0.80	-116.8	2317	1993	3293	3275	118.1	-10.9	147	901	0.00	1.00	0.00	0.000	516	0.000	0.034	2323	1312	3283	3292	3275	0	0	0	0	0	0	26.84	26.59	26.91
1061	-0.80	-116.8	2322	1311	3293	3275	136.3	-10.9	178	1069	0.00	1.02	0.00	0.000	1030	0.000	0.031	2319	1999	3284	3293	3275	0	0	0	0	0	0	26.68	26.65	26.71
1187	-0.80	-116.8	2318	1999	3293	3274	149.3	-10.2	191	1191	0.00	1.02	0.00	0.000	516	0.000	0.033	2322	1310	3283	3293	3274	0	0	0	0	0	0	26.94	26.65	26.98
1232	-0.80	-116.8	2322	1310	3293	3274	154.7	-11.2	200	1241	0.00	1.02	0.00	0.000	1030	0.000	0.030	2319	1999	3284	3293	3275	0	0	0	0	0	0	26.74	26.68	26.74
1362	-0.80	-116.8	2319	1999	3293	3274	168.2	-10.7	213	1365	0.00	1.02	0.00	0.000	260	0.000	0.037	2314	2707	3283	3293	3274	0	0	0	0	0	0	26.97	26.68	27.01
1405	-0.80	-116.8	2313	2707	3292	3274	172.8	-10.5	221	1409	0.00	1.00	0.00	0.000	1030	0.000	0.026	2317	1997	3283	3293	3274	0	0	0	0	0	0	26.77	26.74	26.79
1537	-0.80	-116.8	2316	1997	3294	3274	186.4	-10.5	235	1541	0.00	0.98	0.00	0.000	516	0.000	0.034	2322	1326	3283	3293	3274	0	0	0	0	0	0	26.98	26.71	27.03
1572	-0.80	-116.8	2321	1326	3293	3274	190.4	-10.3	242	1580	0.00	1.00	0.00	0.000	1030	0.000	0.031	2319	2001	3283	3292	3274	0	0	0	0	0	0	26.77	26.74	26.79
1702	-0.80	-116.8	2318	2001	3293	3275	202.8	-10.2	255	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2001	3284	3294	3274	0	0	0	0	0	0	27.01	27.07	27.05
1830	-0.80	-116.8	2319	2002	3293	3274	216.7	-11.1	268	1835	0.00	1.00	0.00	0.000	516	0.000	0.033	2322	1322	3283	3293	3274	0	0	0	0	0	0	27.02	26.74	27.08
1894	-0.80	-116.8	2321	1322	3294	3274	223.1	-9.8	280	1899	0.00	1.00	0.00	0.000	1062	0.000	0.031	2319	1999	3283	3293	3274	0	0	0	0	0	0	26.79	26.77	26.82
2027	-0.80	-116.8	2318	1999	3293	3274	236.9	-10.3	294	2031	0.00	1.00	0.00	0.000	516	0.000	0.034	2322	1322	3283	3293	3274	0	0	0	0	0	0	27.04	26.76	27.10
2040	end dive: BOTTOM_OBSTACLE_DETECTED
state	2040	begin apogee
2045	-0.18	0.0	2320	1820	3293	3274	238.6	-10.1	297	2235	0.70	0.00	185.35	0.577	10246	0.156	0.000	2523	1821	2799	2853	2745	0	0	0	0	0	0	26.30	25.29	24.79
2236	end apogee: CONTROL_FINISHED_OK
state	2236	begin climb
2237	0.80	116.8	2523	1821	2844	2737	242.4	0.0	316	2425	1.00	0.00	176.32	0.549	10758	0.116	0.000	2833	1821	2311	2438	2184	0	0	0	0	0	0	25.32	24.96	24.65
2546	0.80	118.2	2832	1821	2414	2164	220.5	10.1	363	2550	0.00	1.02	0.00	0.000	292	0.000	0.039	2830	2488	2289	2414	2164	0	0	0	0	0	0	26.06	25.83	26.11
2591	0.80	118.2	2829	2489	2413	2161	215.4	10.5	372	2599	0.00	1.00	0.00	0.000	1030	0.000	0.031	2833	1825	2287	2413	2162	0	0	0	0	0	0	25.98	25.96	26.01
2721	0.80	118.2	2833	1824	2412	2161	201.4	11.2	385	2726	0.00	1.12	0.00	0.000	516	0.000	0.041	2840	1102	2286	2412	2161	0	0	0	0	0	0	26.39	26.14	26.45
2838	0.80	118.2	2838	1102	2411	2161	188.2	10.8	408	2847	0.00	1.05	0.00	0.000	1030	0.000	0.030	2836	1798	2285	2410	2161	0	0	0	0	0	0	26.32	26.29	26.34
2967	0.80	118.2	2835	1799	2410	2161	174.6	11.0	421	2972	0.00	1.05	0.00	0.000	260	0.000	0.037	2830	2502	2285	2410	2161	0	0	0	0	0	0	26.62	26.36	26.67
3045	0.80	118.2	2829	2502	2409	2161	165.6	11.1	436	3052	0.00	1.05	0.00	0.000	1030	0.000	0.031	2833	1791	2285	2409	2161	0	0	0	0	0	0	26.46	26.44	26.48
3173	0.80	118.6	2833	1791	2409	2160	152.7	10.1	449	3177	0.00	1.05	0.00	0.000	548	0.000	0.041	2840	1105	2285	2409	2161	0	0	0	0	0	0	26.73	26.46	26.79
3219	0.80	118.6	2838	1106	2409	2161	147.6	10.3	458	3227	0.00	1.05	0.00	0.000	1030	0.000	0.031	2835	1802	2285	2409	2161	0	0	0	0	0	0	26.53	26.51	26.57
3346	0.80	121.1	2835	1802	2408	2161	135.1	10.0	471	3350	0.00	1.08	0.00	0.000	548	0.000	0.039	2839	1108	2284	2408	2161	0	0	0	0	0	0	26.79	26.52	26.86
3370	0.80	121.1	2838	1108	2407	2161	132.3	10.6	476	3378	0.00	1.05	0.00	0.000	1030	0.000	0.029	2835	1806	2284	2408	2161	0	0	0	0	0	0	26.59	26.56	26.60
3501	0.82	132.0	2835	1806	2406	2161	120.0	9.5	489	3509	0.00	0.00	2.50	0.457	8230	0.000	0.000	2836	1806	2265	2394	2137	0	0	0	0	0	0	26.84	26.15	25.05
3629	0.85	157.4	2835	1806	2403	2144	108.6	8.7	502	3689	0.10	0.00	50.90	0.547	10278	0.219	0.000	2857	1806	2147	2281	2013	0	0	0	0	0	0	26.39	25.94	25.46
3810	0.85	157.4	2856	1806	2256	1991	89.8	11.3	529	3818	0.00	1.10	0.00	0.000	516	0.000	0.040	2862	1109	2123	2256	1991	0	0	0	0	0	0	26.49	26.23	26.55
3912	0.85	157.4	2861	1109	2255	1991	78.5	11.1	548	3919	0.00	1.05	0.00	0.000	1030	0.000	0.031	2858	1799	2123	2255	1991	0	0	0	0	0	0	26.38	26.34	26.40
4050	0.87	175.2	2858	1799	2254	1990	65.8	9.1	573	4059	0.00	1.08	4.30	0.636	8484	0.000	0.037	2853	2504	2087	2225	1950	0	0	0	0	0	0	26.67	26.21	25.49
4087	0.90	200.0	2853	2505	2234	1953	62.4	8.7	579	4139	0.00	1.05	48.67	0.526	9254	0.000	0.031	2857	1795	1986	2126	1847	0	0	0	0	0	0	26.44	26.41	25.32
4265	0.90	200.0	2856	1795	2089	1810	44.3	10.8	610	4273	0.00	1.08	0.00	0.000	260	0.000	0.037	2853	2495	1949	2089	1810	0	0	0	0	0	0	26.41	26.15	26.46
4280	0.90	200.0	2853	2495	2088	1810	42.6	10.4	612	4288	0.00	1.05	0.00	0.000	1030	0.000	0.032	2857	1793	1949	2088	1810	0	0	0	0	0	0	26.23	26.20	26.27
4416	0.91	214.3	2856	1793	2087	1809	28.8	9.3	637	4426	0.08	1.10	2.35	0.354	10788	0.168	0.042	2883	1098	1927	2070	1785	0	0	0	0	0	0	26.31	26.03	25.09
4576	0.96	255.1	2882	1098	2082	1792	15.5	7.8	667	4665	0.00	1.08	78.50	0.493	9254	0.000	0.031	2879	1807	1748	1895	1602	0	0	0	0	0	0	26.46	26.42	25.19
4738	end climb: SURFACE_DEPTH_REACHED
state	4738	begin surface coast
4766	end surface coast: CONTROL_FINISHED_OK
state	4766	begin surface