Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 186 * 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 186 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 52 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 3 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 284.0

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 3

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 284.0 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 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

DIVE 186 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 130921,165905,4750.9614,-12510.0410,2,0.9,5,15.7,0.7,294.0,12,7.4 SPEED_LIMITS 0.176,0.235

_CALLS 2 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.54 MHEAD_RNG_PITCHd_Wd 101.8,2001,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -60.6 D_GRID 243

GPS2 130921,170531,4750.9497,-12510.0684,4,0.9,28,15.7,0.2,225.5,9,1.9

Post-dive calculations and measurements:

FINISH -0.4,1.025423 _10V_AH 10.16,15.867

SM_CCo 5091,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.50,7.62,0.28,0.00,0.058,0.054,0.000,157,2007,550,-7.41,-1.67,551.92,0,0,0,0,0,0,26.20,26.14,25.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4750.87,-12505.04,130921,170039 MEM 209724

TT8_MAMPS 0.02247,0.180509 DATA_FILE_SIZE 36870,732

HUMID 53.46 CAP_FILE_SIZE 86254,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,236769280

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.059,234.24,1

ALTIM_BOTTOM_PING 223.2,37.0 GPS 130921,183153,4750.711,-12509.634,4,1.1,6,15.7,0.9,270.6,8,10.0

_24V_AH 24.27,29.279

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 209 91.06 SBE_CT 424 64 663.75

Roll_motor 33 59 48.88 WL_blue_red_Chl 1343 37 1221.42

VBD_pump_during_apogee 540 593 7792.73 nil 0 0 0.00

VBD_pump_during_surface 195 616 2925.21 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 213 89 464.76 nil 0 0 0.00

Transponder_ping 2 420 22.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 11 4.86

TT8 1593 12 197.81

LPSleep 1150 2 25.59

TT8_Active 742 12 92.24

TT8_Sampling 1743 37 667.72

TT8_CF8 269 42 117.61

TT8_Kalman 0 0 0.00

Analog_circuits 1683 11 188.20

GPS_charging 0 0 0.00

Compass 1625 8 136.06

RAFOS 0 0 0.00

Transponder 19 30 6.04

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.80 -116.8 159 2016 690 411 0.0 0.0 0 114 0.00 0.00 -104.88 0.004 16386 0.000 0.000 159 2015 3040 3025 3056 0 0 0 0 0 0 26.39 28.83 26.46

117 -0.80 -116.8 158 2015 3026 3056 4.3 -8.0 15 140 8.38 1.10 -4.88 0.016 18980 0.210 0.060 2321 1286 3280 3282 3278 0 0 0 0 0 0 25.76 24.59 25.92

373 -0.80 -116.8 2320 1286 3288 3277 47.8 -17.4 63 381 0.00 1.08 0.00 0.000 1030 0.000 0.031 2317 1990 3282 3288 3277 0 0 0 0 0 0 26.44 26.41 26.47

513 -0.80 -116.8 2316 1990 3290 3276 69.2 -14.9 88 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1990 3283 3290 3276 0 0 0 0 0 0 26.74 26.79 26.79

644 -0.80 -116.8 2316 1991 3291 3276 86.4 -11.9 113 652 0.00 1.05 0.00 0.000 260 0.000 0.039 2311 2702 3283 3291 3276 0 0 0 0 0 0 26.79 26.49 26.84

702 -0.80 -116.8 2311 2702 3291 3276 93.0 -10.8 123 709 0.00 1.02 0.00 0.000 1030 0.000 0.026 2314 1989 3283 3291 3276 0 0 0 0 0 0 26.60 26.59 26.63

833 -0.80 -116.8 2314 1989 3291 3276 105.3 -10.2 143 835 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 1990 3284 3292 3276 0 0 0 0 0 0 26.85 26.91 26.90

955 -0.80 -116.8 2314 1990 3292 3276 118.3 -11.0 155 959 0.00 1.00 0.00 0.000 516 0.000 0.034 2319 1310 3284 3292 3276 0 0 0 0 0 0 26.88 26.60 26.94

1151 -0.80 -116.8 2319 1310 3292 3276 139.9 -10.7 193 1156 0.00 1.05 0.00 0.000 1030 0.000 0.030 2316 2012 3283 3292 3275 0 0 0 0 0 0 26.68 26.66 26.71

1286 -0.80 -116.8 2315 2012 3293 3275 153.3 -10.4 207 1289 0.00 1.05 0.00 0.000 516 0.000 0.033 2319 1308 3284 3293 3275 0 0 0 0 0 0 26.95 26.65 27.00

1413 -0.80 -116.8 2318 1308 3293 3275 166.4 -9.5 232 1421 0.00 1.05 0.00 0.000 1062 0.000 0.031 2316 2007 3284 3293 3275 0 0 0 0 0 0 26.72 26.70 26.74

1543 -0.80 -116.8 2315 2007 3293 3274 177.9 -9.1 245 1547 0.00 1.02 0.00 0.000 548 0.000 0.033 2319 1316 3283 3293 3274 0 0 0 0 0 0 26.98 26.69 27.04

1587 -0.80 -116.8 2318 1317 3293 3274 182.3 -9.5 253 1591 0.00 1.02 0.00 0.000 1062 0.000 0.031 2315 1999 3283 3293 3274 0 0 0 0 0 0 26.74 26.71 26.80

1720 -0.80 -116.8 2315 1999 3293 3273 195.5 -10.0 267 1727 0.00 0.00 0.00 0.000 38 0.000 0.000 2316 1999 3283 3292 3274 0 0 0 0 0 0 27.00 27.05 27.05

1850 -0.80 -116.8 2315 1998 3293 3274 208.6 -10.5 280 1853 0.00 1.02 0.00 0.000 516 0.000 0.034 2319 1308 3283 3292 3274 0 0 0 0 0 0 27.03 26.72 27.08

1904 -0.80 -116.8 2318 1308 3293 3274 214.3 -10.6 290 1908 0.00 1.02 0.00 0.000 1030 0.000 0.032 2316 1994 3283 3293 3274 0 0 0 0 0 0 26.78 26.74 26.79

2036 -0.80 -116.8 2315 1994 3293 3274 228.7 -10.9 304 2039 0.00 1.02 0.00 0.000 516 0.000 0.033 2319 1301 3283 3293 3274 0 0 0 0 0 0 27.04 26.74 27.09

2111 -0.80 -116.8 2318 1301 3293 3274 237.5 -12.2 318 2116 0.00 1.05 0.00 0.000 1030 0.000 0.031 2316 2000 3283 3293 3274 0 0 0 0 0 0 26.79 26.75 26.82

2132 end dive: BOTTOM_OBSTACLE_DETECTED

state 2132 begin apogee

2137 -0.18 0.0 2315 1767 3293 3274 240.2 -11.4 321 2333 0.68 0.00 185.80 0.577 10246 0.155 0.000 2518 1764 2790 2844 2736 0 0 0 0 0 0 26.22 25.27 24.75

2334 end apogee: CONTROL_FINISHED_OK

state 2334 begin climb

2336 0.80 116.8 2518 1765 2840 2733 248.5 0.0 341 2524 1.02 0.90 179.55 0.560 10756 0.116 0.035 2842 1135 2319 2446 2193 0 0 0 0 0 0 25.34 24.91 24.58

2566 0.85 157.4 2840 1135 2420 2176 238.3 7.8 386 2627 0.00 1.05 55.72 0.549 9254 0.000 0.029 2838 1807 2157 2294 2020 0 0 0 0 0 0 25.53 25.51 24.68

2756 0.88 188.4 2837 1806 2270 1996 222.9 8.3 411 2806 0.12 1.05 42.40 0.574 10532 0.193 0.034 2866 2484 2022 2167 1878 0 0 0 0 0 0 25.65 25.21 24.86

2863 0.88 188.4 2865 2484 2151 1864 211.8 11.2 431 2867 0.00 0.98 0.00 0.000 1030 0.000 0.031 2867 1836 2007 2151 1863 0 0 0 0 0 0 25.86 25.84 25.89

2995 0.88 188.4 2868 1836 2148 1862 196.5 11.7 445 2997 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1836 2005 2148 1862 0 0 0 0 0 0 26.33 26.39 26.38

3115 0.88 188.4 2868 1836 2146 1862 182.2 11.9 457 3119 0.00 1.00 0.00 0.000 260 0.000 0.039 2869 2486 2004 2147 1862 0 0 0 0 0 0 26.48 26.20 26.53

3169 0.88 188.4 2868 2486 2146 1862 176.0 11.9 467 3173 0.00 1.02 0.00 0.000 1030 0.000 0.033 2872 1800 2003 2145 1862 0 0 0 0 0 0 26.32 26.29 26.34

3301 0.88 188.4 2872 1799 2144 1862 160.8 11.4 481 3303 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 1800 2003 2144 1862 0 0 0 0 0 0 26.63 26.69 26.68

3423 0.88 188.4 2872 1799 2143 1862 146.4 12.2 493 3427 0.00 1.08 0.00 0.000 516 0.000 0.043 2878 1106 2002 2143 1862 0 0 0 0 0 0 26.70 26.41 26.77

3447 0.88 188.4 2877 1106 2143 1862 143.0 12.2 498 3457 0.00 1.05 0.00 0.000 1030 0.000 0.031 2875 1801 2002 2143 1862 0 0 0 0 0 0 26.48 26.46 26.51

3576 0.88 188.4 2874 1801 2142 1862 127.8 12.2 511 3580 0.00 1.08 0.00 0.000 516 0.000 0.041 2879 1113 2002 2142 1862 0 0 0 0 0 0 26.76 26.46 26.82

3621 0.88 188.4 2878 1113 2141 1862 122.5 12.5 519 3625 0.00 1.02 0.00 0.000 1030 0.000 0.029 2875 1798 2002 2142 1862 0 0 0 0 0 0 26.55 26.53 26.58

3753 0.88 188.4 2875 1799 2141 1862 105.0 13.4 533 3755 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 1799 2001 2141 1862 0 0 0 0 0 0 26.82 26.88 26.87

3879 0.88 188.4 2875 1799 2140 1862 89.1 11.2 553 3886 0.00 1.08 0.00 0.000 516 0.000 0.040 2879 1105 2001 2140 1862 0 0 0 0 0 0 26.89 26.58 26.91

3899 0.88 188.4 2879 1105 2141 1862 86.9 11.1 556 3906 0.00 1.05 0.00 0.000 1030 0.000 0.030 2876 1804 2001 2140 1862 0 0 0 0 0 0 26.63 26.61 26.65

4035 0.88 188.4 2875 1804 2141 1861 73.1 10.4 581 4042 0.00 1.02 0.00 0.000 260 0.000 0.038 2871 2490 2000 2139 1862 0 0 0 0 0 0 26.89 26.59 26.95

4134 0.88 188.4 2871 2490 2138 1861 62.4 10.4 599 4142 0.00 1.02 0.00 0.000 1030 0.000 0.033 2875 1792 2000 2139 1862 0 0 0 0 0 0 26.67 26.64 26.70

4265 0.88 188.4 2874 1792 2138 1861 49.2 10.2 624 4273 0.00 1.05 0.00 0.000 260 0.000 0.037 2871 2486 2000 2138 1862 0 0 0 0 0 0 26.94 26.63 27.02

4386 0.90 205.0 2871 2486 2138 1862 37.5 9.2 646 4395 0.00 1.00 5.20 0.594 9254 0.000 0.032 2875 1806 1966 2106 1827 0 0 0 0 0 0 26.71 26.69 25.60

4523 0.93 223.6 2874 1806 2110 1828 25.3 9.1 671 4560 0.00 1.12 31.60 0.525 8740 0.000 0.041 2880 1097 1886 2032 1741 0 0 0 0 0 0 26.92 26.18 25.60

4796 1.01 295.5 2880 1097 2009 1724 4.6 5.9 721 4841 0.08 1.05 40.60 0.506 11298 0.115 0.028 2908 1796 1768 1914 1622 0 0 0 0 0 0 26.27 26.48 26.34

4842 end climb: SURFACE_DEPTH_REACHED

state 4842 begin surface coast

4868 end surface coast: CONTROL_FINISHED_OK

state 4868 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	186	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	52	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	3	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	284.0
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	130921,165905,4750.9614,-12510.0410,2,0.9,5,15.7,0.7,294.0,12,7.4	SPEED_LIMITS	0.176,0.235
_CALLS	2	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.54	MHEAD_RNG_PITCHd_Wd	101.8,2001,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-60.6	D_GRID	243
GPS2	130921,170531,4750.9497,-12510.0684,4,0.9,28,15.7,0.2,225.5,9,1.9

FINISH	-0.4,1.025423	_10V_AH	10.16,15.867
SM_CCo	5091,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.50,7.62,0.28,0.00,0.058,0.054,0.000,157,2007,550,-7.41,-1.67,551.92,0,0,0,0,0,0,26.20,26.14,25.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4750.87,-12505.04,130921,170039	MEM	209724
TT8_MAMPS	0.02247,0.180509	DATA_FILE_SIZE	36870,732
HUMID	53.46	CAP_FILE_SIZE	86254,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,236769280
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.059,234.24,1
ALTIM_BOTTOM_PING	223.2,37.0	GPS	130921,183153,4750.711,-12509.634,4,1.1,6,15.7,0.9,270.6,8,10.0
_24V_AH	24.27,29.279

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	209	91.06	SBE_CT	424	64	663.75
Roll_motor	33	59	48.88	WL_blue_red_Chl	1343	37	1221.42
VBD_pump_during_apogee	540	593	7792.73	nil	0	0	0.00
VBD_pump_during_surface	195	616	2925.21	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	213	89	464.76	nil	0	0	0.00
Transponder_ping	2	420	22.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	11	4.86
TT8	1593	12	197.81
LPSleep	1150	2	25.59
TT8_Active	742	12	92.24
TT8_Sampling	1743	37	667.72
TT8_CF8	269	42	117.61
TT8_Kalman	0	0	0.00
Analog_circuits	1683	11	188.20
GPS_charging	0	0	0.00
Compass	1625	8	136.06
RAFOS	0	0	0.00
Transponder	19	30	6.04

		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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.80	-116.8	159	2016	690	411	0.0	0.0	0	114	0.00	0.00	-104.88	0.004	16386	0.000	0.000	159	2015	3040	3025	3056	0	0	0	0	0	0	26.39	28.83	26.46
117	-0.80	-116.8	158	2015	3026	3056	4.3	-8.0	15	140	8.38	1.10	-4.88	0.016	18980	0.210	0.060	2321	1286	3280	3282	3278	0	0	0	0	0	0	25.76	24.59	25.92
373	-0.80	-116.8	2320	1286	3288	3277	47.8	-17.4	63	381	0.00	1.08	0.00	0.000	1030	0.000	0.031	2317	1990	3282	3288	3277	0	0	0	0	0	0	26.44	26.41	26.47
513	-0.80	-116.8	2316	1990	3290	3276	69.2	-14.9	88	520	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1990	3283	3290	3276	0	0	0	0	0	0	26.74	26.79	26.79
644	-0.80	-116.8	2316	1991	3291	3276	86.4	-11.9	113	652	0.00	1.05	0.00	0.000	260	0.000	0.039	2311	2702	3283	3291	3276	0	0	0	0	0	0	26.79	26.49	26.84
702	-0.80	-116.8	2311	2702	3291	3276	93.0	-10.8	123	709	0.00	1.02	0.00	0.000	1030	0.000	0.026	2314	1989	3283	3291	3276	0	0	0	0	0	0	26.60	26.59	26.63
833	-0.80	-116.8	2314	1989	3291	3276	105.3	-10.2	143	835	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	1990	3284	3292	3276	0	0	0	0	0	0	26.85	26.91	26.90
955	-0.80	-116.8	2314	1990	3292	3276	118.3	-11.0	155	959	0.00	1.00	0.00	0.000	516	0.000	0.034	2319	1310	3284	3292	3276	0	0	0	0	0	0	26.88	26.60	26.94
1151	-0.80	-116.8	2319	1310	3292	3276	139.9	-10.7	193	1156	0.00	1.05	0.00	0.000	1030	0.000	0.030	2316	2012	3283	3292	3275	0	0	0	0	0	0	26.68	26.66	26.71
1286	-0.80	-116.8	2315	2012	3293	3275	153.3	-10.4	207	1289	0.00	1.05	0.00	0.000	516	0.000	0.033	2319	1308	3284	3293	3275	0	0	0	0	0	0	26.95	26.65	27.00
1413	-0.80	-116.8	2318	1308	3293	3275	166.4	-9.5	232	1421	0.00	1.05	0.00	0.000	1062	0.000	0.031	2316	2007	3284	3293	3275	0	0	0	0	0	0	26.72	26.70	26.74
1543	-0.80	-116.8	2315	2007	3293	3274	177.9	-9.1	245	1547	0.00	1.02	0.00	0.000	548	0.000	0.033	2319	1316	3283	3293	3274	0	0	0	0	0	0	26.98	26.69	27.04
1587	-0.80	-116.8	2318	1317	3293	3274	182.3	-9.5	253	1591	0.00	1.02	0.00	0.000	1062	0.000	0.031	2315	1999	3283	3293	3274	0	0	0	0	0	0	26.74	26.71	26.80
1720	-0.80	-116.8	2315	1999	3293	3273	195.5	-10.0	267	1727	0.00	0.00	0.00	0.000	38	0.000	0.000	2316	1999	3283	3292	3274	0	0	0	0	0	0	27.00	27.05	27.05
1850	-0.80	-116.8	2315	1998	3293	3274	208.6	-10.5	280	1853	0.00	1.02	0.00	0.000	516	0.000	0.034	2319	1308	3283	3292	3274	0	0	0	0	0	0	27.03	26.72	27.08
1904	-0.80	-116.8	2318	1308	3293	3274	214.3	-10.6	290	1908	0.00	1.02	0.00	0.000	1030	0.000	0.032	2316	1994	3283	3293	3274	0	0	0	0	0	0	26.78	26.74	26.79
2036	-0.80	-116.8	2315	1994	3293	3274	228.7	-10.9	304	2039	0.00	1.02	0.00	0.000	516	0.000	0.033	2319	1301	3283	3293	3274	0	0	0	0	0	0	27.04	26.74	27.09
2111	-0.80	-116.8	2318	1301	3293	3274	237.5	-12.2	318	2116	0.00	1.05	0.00	0.000	1030	0.000	0.031	2316	2000	3283	3293	3274	0	0	0	0	0	0	26.79	26.75	26.82
2132	end dive: BOTTOM_OBSTACLE_DETECTED
state	2132	begin apogee
2137	-0.18	0.0	2315	1767	3293	3274	240.2	-11.4	321	2333	0.68	0.00	185.80	0.577	10246	0.155	0.000	2518	1764	2790	2844	2736	0	0	0	0	0	0	26.22	25.27	24.75
2334	end apogee: CONTROL_FINISHED_OK
state	2334	begin climb
2336	0.80	116.8	2518	1765	2840	2733	248.5	0.0	341	2524	1.02	0.90	179.55	0.560	10756	0.116	0.035	2842	1135	2319	2446	2193	0	0	0	0	0	0	25.34	24.91	24.58
2566	0.85	157.4	2840	1135	2420	2176	238.3	7.8	386	2627	0.00	1.05	55.72	0.549	9254	0.000	0.029	2838	1807	2157	2294	2020	0	0	0	0	0	0	25.53	25.51	24.68
2756	0.88	188.4	2837	1806	2270	1996	222.9	8.3	411	2806	0.12	1.05	42.40	0.574	10532	0.193	0.034	2866	2484	2022	2167	1878	0	0	0	0	0	0	25.65	25.21	24.86
2863	0.88	188.4	2865	2484	2151	1864	211.8	11.2	431	2867	0.00	0.98	0.00	0.000	1030	0.000	0.031	2867	1836	2007	2151	1863	0	0	0	0	0	0	25.86	25.84	25.89
2995	0.88	188.4	2868	1836	2148	1862	196.5	11.7	445	2997	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1836	2005	2148	1862	0	0	0	0	0	0	26.33	26.39	26.38
3115	0.88	188.4	2868	1836	2146	1862	182.2	11.9	457	3119	0.00	1.00	0.00	0.000	260	0.000	0.039	2869	2486	2004	2147	1862	0	0	0	0	0	0	26.48	26.20	26.53
3169	0.88	188.4	2868	2486	2146	1862	176.0	11.9	467	3173	0.00	1.02	0.00	0.000	1030	0.000	0.033	2872	1800	2003	2145	1862	0	0	0	0	0	0	26.32	26.29	26.34
3301	0.88	188.4	2872	1799	2144	1862	160.8	11.4	481	3303	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	1800	2003	2144	1862	0	0	0	0	0	0	26.63	26.69	26.68
3423	0.88	188.4	2872	1799	2143	1862	146.4	12.2	493	3427	0.00	1.08	0.00	0.000	516	0.000	0.043	2878	1106	2002	2143	1862	0	0	0	0	0	0	26.70	26.41	26.77
3447	0.88	188.4	2877	1106	2143	1862	143.0	12.2	498	3457	0.00	1.05	0.00	0.000	1030	0.000	0.031	2875	1801	2002	2143	1862	0	0	0	0	0	0	26.48	26.46	26.51
3576	0.88	188.4	2874	1801	2142	1862	127.8	12.2	511	3580	0.00	1.08	0.00	0.000	516	0.000	0.041	2879	1113	2002	2142	1862	0	0	0	0	0	0	26.76	26.46	26.82
3621	0.88	188.4	2878	1113	2141	1862	122.5	12.5	519	3625	0.00	1.02	0.00	0.000	1030	0.000	0.029	2875	1798	2002	2142	1862	0	0	0	0	0	0	26.55	26.53	26.58
3753	0.88	188.4	2875	1799	2141	1862	105.0	13.4	533	3755	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	1799	2001	2141	1862	0	0	0	0	0	0	26.82	26.88	26.87
3879	0.88	188.4	2875	1799	2140	1862	89.1	11.2	553	3886	0.00	1.08	0.00	0.000	516	0.000	0.040	2879	1105	2001	2140	1862	0	0	0	0	0	0	26.89	26.58	26.91
3899	0.88	188.4	2879	1105	2141	1862	86.9	11.1	556	3906	0.00	1.05	0.00	0.000	1030	0.000	0.030	2876	1804	2001	2140	1862	0	0	0	0	0	0	26.63	26.61	26.65
4035	0.88	188.4	2875	1804	2141	1861	73.1	10.4	581	4042	0.00	1.02	0.00	0.000	260	0.000	0.038	2871	2490	2000	2139	1862	0	0	0	0	0	0	26.89	26.59	26.95
4134	0.88	188.4	2871	2490	2138	1861	62.4	10.4	599	4142	0.00	1.02	0.00	0.000	1030	0.000	0.033	2875	1792	2000	2139	1862	0	0	0	0	0	0	26.67	26.64	26.70
4265	0.88	188.4	2874	1792	2138	1861	49.2	10.2	624	4273	0.00	1.05	0.00	0.000	260	0.000	0.037	2871	2486	2000	2138	1862	0	0	0	0	0	0	26.94	26.63	27.02
4386	0.90	205.0	2871	2486	2138	1862	37.5	9.2	646	4395	0.00	1.00	5.20	0.594	9254	0.000	0.032	2875	1806	1966	2106	1827	0	0	0	0	0	0	26.71	26.69	25.60
4523	0.93	223.6	2874	1806	2110	1828	25.3	9.1	671	4560	0.00	1.12	31.60	0.525	8740	0.000	0.041	2880	1097	1886	2032	1741	0	0	0	0	0	0	26.92	26.18	25.60
4796	1.01	295.5	2880	1097	2009	1724	4.6	5.9	721	4841	0.08	1.05	40.60	0.506	11298	0.115	0.028	2908	1796	1768	1914	1622	0	0	0	0	0	0	26.27	26.48	26.34
4842	end climb: SURFACE_DEPTH_REACHED
state	4842	begin surface coast
4868	end surface coast: CONTROL_FINISHED_OK
state	4868	begin surface