Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 73 * 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 73 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 53 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 260 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 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 95 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 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 132.0

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 260 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 80

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 95

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 132.0 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 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 0 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 1 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 53 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 61 XPDR_INHIBIT 90

DIVE 73 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 050921,201701,4751.1626,-12509.8594,30,0.9,37,15.7,0.8,144.5,10,5.6 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.45 MHEAD_RNG_PITCHd_Wd 132.2,2073,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -61.6 D_GRID 218

GPS2 050921,202226,4751.1641,-12509.8799,4,0.7,6,15.7,0.3,321.3,12,8.6

Post-dive calculations and measurements:

FINISH -0.4,1.025595 _24V_AH 24.34,14.896

SM_CCo 4433,-0.28,0.169,0,0,550,551.92 _10V_AH 10.26,8.494

SM_GC 0.42,7.70,1.42,-0.28,0.061,0.029,0.169,172,1996,550,-7.40,-1.13,551.92,0,0,0,0,0,0,26.05,26.02,25.32 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,050921,185534 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.152047 MEM 211180

HUMID 53.03 DATA_FILE_SIZE 33591,624

INTERNAL_PRESSURE 8.7185 CAP_FILE_SIZE 83629,0

TCM_TEMP 15.10 CFSIZE 260030464,244629504

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

ALTIM_BOTTOM_PING 192.5,51.1 INTR 0,2012.96,0x235ab4,1,24

CP_FREE 117599240192.000000 CURRENT 0.040,326.39,1

CP_POWER 328.190000 GPS 050921,213831,4750.922,-12509.791,6,1.0,30,15.7,0.2,0.0,9,1.7

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 218 95.86 SBE_CT 366 64 574.68

Roll_motor 36 104 92.11 WL_blue_red_Chl 1165 37 1062.27

VBD_pump_during_apogee 540 756 9947.01 nil 0 0 0.00

VBD_pump_during_surface 199 615 2994.84 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 4025 25 2449.21

Iridium_during_xfer 207 100 510.86 nil 0 0 0.00

Transponder_ping 1 420 10.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.04

TT8 1361 12 170.68

LPSleep 859 2 19.31

TT8_Active 758 12 95.12

TT8_Sampling 1563 37 604.66

TT8_CF8 255 42 112.49

TT8_Kalman 0 0 0.00

Analog_circuits 1624 11 183.31

GPS_charging 0 0 0.00

Compass 1394 8 117.90

RAFOS 0 0 0.00

Transponder 9 30 2.78

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 -0.84 -116.8 172 2032 686 407 0.0 0.0 0 134 0.00 0.00 -105.88 0.011 16386 0.000 0.000 172 2033 3012 2997 3028 0 0 0 0 0 0 26.10 28.83 26.16

137 -0.84 -116.8 172 2033 3001 3028 3.5 -6.5 15 161 8.27 1.00 -5.68 0.030 18724 0.219 0.079 2290 2682 3278 3280 3276 0 0 0 0 0 0 25.78 24.79 25.98

173 -0.84 -116.8 2290 2682 3282 3276 14.9 -30.0 20 182 0.05 1.00 0.00 0.000 3078 0.177 0.031 2306 1974 3279 3283 3275 0 0 0 0 0 0 26.00 26.22 26.09

310 -0.84 -116.8 2306 1973 3287 3274 38.3 -14.1 45 317 0.00 1.08 0.00 0.000 260 0.000 0.043 2303 2688 3280 3287 3274 0 0 0 0 0 0 26.40 26.25 26.45

550 -0.84 -116.8 2302 2688 3290 3274 73.3 -12.5 91 557 0.00 0.98 0.00 0.000 1030 0.000 0.034 2305 2016 3282 3290 3274 0 0 0 0 0 0 26.46 26.44 26.48

681 -0.84 -116.8 2305 2015 3291 3274 91.1 -12.8 116 689 0.00 1.05 0.00 0.000 516 0.000 0.039 2311 1308 3282 3291 3273 0 0 0 0 0 0 26.55 26.44 26.61

770 -0.84 -116.8 2310 1308 3292 3274 102.1 -11.8 132 776 0.00 1.02 0.00 0.000 1030 0.000 0.036 2308 1985 3282 3292 3273 0 0 0 0 0 0 26.52 26.49 26.55

904 -0.84 -116.8 2307 1985 3292 3273 118.6 -12.1 146 908 0.00 1.05 0.00 0.000 260 0.000 0.043 2302 2700 3283 3293 3273 0 0 0 0 0 0 26.53 26.50 26.60

998 -0.84 -116.8 2301 2700 3293 3273 129.5 -11.7 164 1003 0.00 1.02 0.00 0.000 1030 0.000 0.032 2305 1989 3283 3293 3273 0 0 0 0 0 0 26.59 26.58 26.60

1131 -0.84 -116.8 2304 1989 3292 3273 144.6 -11.3 178 1134 0.00 1.00 0.00 0.000 516 0.000 0.040 2310 1310 3283 3293 3273 0 0 0 0 0 0 26.65 26.54 26.70

1165 -0.84 -116.8 2309 1310 3293 3273 148.7 -11.2 185 1173 0.00 1.05 0.00 0.000 1030 0.000 0.104 2307 1999 3283 3293 3273 0 0 0 0 0 0 26.59 26.57 26.61

1295 -0.84 -116.8 2307 1999 3293 3272 162.6 -11.2 198 1299 0.00 1.02 0.00 0.000 260 0.000 0.044 2302 2701 3282 3293 3272 0 0 0 0 0 0 26.68 26.50 26.77

1337 -0.84 -116.8 2301 2701 3293 3272 167.6 -11.1 206 1341 0.00 1.00 0.00 0.000 1030 0.000 0.032 2305 1998 3282 3293 3272 0 0 0 0 0 0 26.63 26.59 26.63

1470 -0.84 -116.8 2304 1998 3293 3272 182.0 -11.1 220 1475 0.00 1.00 0.00 0.000 516 0.000 0.041 2310 1320 3282 3293 3272 0 0 0 0 0 0 26.70 26.53 26.73

1544 -0.84 -116.8 2309 1320 3293 3271 191.1 -12.9 234 1548 0.00 1.02 0.00 0.000 1030 0.000 0.037 2307 2000 3282 3293 3271 0 0 0 0 0 0 26.63 26.60 26.65

1676 -0.84 -116.8 2306 1999 3293 3270 207.9 -13.1 248 1680 0.00 1.02 0.00 0.000 260 0.000 0.044 2301 2700 3282 3293 3271 0 0 0 0 0 0 26.58 26.59 26.65

1758 end dive: TARGET_DEPTH_EXCEEDED

state 1758 begin apogee

1764 -0.18 0.0 2306 1792 3293 3270 218.6 -12.9 264 1963 0.73 0.00 195.30 0.555 10246 0.164 0.000 2521 1791 2799 2853 2746 0 0 0 0 0 0 26.21 25.27 24.81

1968 end apogee: CONTROL_FINISHED_OK

state 1969 begin climb

1970 0.84 116.8 2521 1791 2842 2736 226.3 0.0 284 2165 1.05 1.15 185.32 0.527 11012 0.114 0.037 2845 2497 2318 2441 2195 0 0 0 0 0 0 25.30 25.14 24.68

2219 0.85 126.4 2844 2498 2413 2166 210.6 10.2 328 2228 0.00 1.08 0.00 0.000 1062 0.000 0.041 2848 1800 2289 2413 2166 0 0 0 0 0 0 25.52 25.51 25.55

2348 0.86 132.9 2848 1799 2410 2165 197.7 10.4 341 2368 0.00 1.10 11.65 0.665 8484 0.000 0.044 2845 2498 2250 2379 2121 0 0 0 0 0 0 25.98 25.71 25.20

2412 0.86 132.9 2845 2497 2369 2114 190.8 11.1 353 2416 0.00 1.08 0.00 0.000 1030 0.000 0.046 2848 1792 2241 2369 2114 0 0 0 0 0 0 25.95 25.96 25.98

2547 0.86 132.9 2848 1792 2366 2113 176.1 11.1 367 2550 0.00 1.10 0.00 0.000 260 0.000 0.044 2845 2506 2240 2366 2114 0 0 0 0 0 0 26.19 26.09 26.25

2578 0.86 132.9 2844 2506 2364 2114 172.3 11.2 373 2583 0.00 1.08 0.00 0.000 1030 0.000 0.038 2848 1792 2239 2365 2114 0 0 0 0 0 0 26.18 26.16 26.20

2711 0.87 142.5 2848 1791 2364 2114 158.5 10.2 387 2722 0.00 0.00 3.67 0.757 8230 0.000 0.000 2848 1792 2222 2352 2093 0 0 0 0 0 0 26.29 25.70 25.00

2843 0.89 158.5 2847 1791 2357 2094 145.5 9.8 400 2885 0.10 1.10 32.90 0.583 10532 0.172 0.041 2874 2501 2145 2279 2012 0 0 0 0 0 0 26.15 25.69 25.35

2923 0.89 158.5 2873 2501 2271 2007 136.0 12.1 415 2930 0.00 1.08 0.00 0.000 1030 0.000 0.037 2877 1792 2138 2271 2006 0 0 0 0 0 0 26.08 26.04 26.13

3050 0.89 158.5 2876 1792 2268 2006 120.6 12.3 428 3054 0.00 1.05 0.00 0.000 516 0.000 0.047 2882 1109 2137 2269 2006 0 0 0 0 0 0 26.28 26.17 26.34

3095 0.89 158.5 2881 1109 2268 2006 115.1 12.9 436 3099 0.00 1.05 0.00 0.000 1030 0.000 0.040 2879 1797 2137 2268 2006 0 0 0 0 0 0 26.17 26.15 26.21

3223 0.89 158.5 2878 1797 2266 2006 99.0 12.8 450 3230 0.00 1.05 0.00 0.000 260 0.000 0.045 2874 2492 2136 2266 2006 0 0 0 0 0 0 26.37 26.31 26.46

3314 0.89 158.5 2873 2492 2264 2006 87.1 12.1 467 3322 0.00 1.02 0.00 0.000 1030 0.000 0.038 2877 1801 2135 2264 2006 0 0 0 0 0 0 26.39 26.35 26.39

3452 0.89 158.5 2877 1801 2264 2006 70.7 11.7 492 3459 0.00 1.08 0.00 0.000 516 0.000 0.049 2883 1109 2135 2264 2006 0 0 0 0 0 0 26.51 26.41 26.57

3700 0.93 191.1 2882 1109 2264 2006 46.0 8.8 538 3748 0.00 1.05 42.22 0.533 9254 0.000 0.036 2880 1803 2016 2155 1878 0 0 0 0 0 0 26.53 26.51 25.48

3874 0.93 191.1 2879 1803 2142 1868 30.3 11.1 569 3882 0.00 1.08 0.00 0.000 516 0.000 0.050 2883 1114 2005 2142 1868 0 0 0 0 0 0 26.34 26.16 26.37

3901 0.93 191.1 2882 1114 2140 1868 27.5 11.0 573 3909 0.00 1.05 0.00 0.000 1030 0.000 0.035 2880 1803 2004 2141 1868 0 0 0 0 0 0 26.28 26.25 26.31

4041 0.99 236.2 2879 1802 2139 1867 13.9 8.0 598 4119 0.10 1.12 69.07 0.501 11044 0.152 0.045 2916 1100 1831 1974 1688 0 0 0 0 0 0 26.22 25.49 25.24

4183 end climb: SURFACE_DEPTH_REACHED

state 4183 begin surface coast

4200 end surface coast: CONTROL_FINISHED_OK

state 4201 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	73	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	53	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	260	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	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	95	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	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	132.0
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	050921,201701,4751.1626,-12509.8594,30,0.9,37,15.7,0.8,144.5,10,5.6	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.45	MHEAD_RNG_PITCHd_Wd	132.2,2073,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-61.6	D_GRID	218
GPS2	050921,202226,4751.1641,-12509.8799,4,0.7,6,15.7,0.3,321.3,12,8.6

FINISH	-0.4,1.025595	_24V_AH	24.34,14.896
SM_CCo	4433,-0.28,0.169,0,0,550,551.92	_10V_AH	10.26,8.494
SM_GC	0.42,7.70,1.42,-0.28,0.061,0.029,0.169,172,1996,550,-7.40,-1.13,551.92,0,0,0,0,0,0,26.05,26.02,25.32	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,050921,185534	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.152047	MEM	211180
HUMID	53.03	DATA_FILE_SIZE	33591,624
INTERNAL_PRESSURE	8.7185	CAP_FILE_SIZE	83629,0
TCM_TEMP	15.10	CFSIZE	260030464,244629504
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
ALTIM_BOTTOM_PING	192.5,51.1	INTR	0,2012.96,0x235ab4,1,24
CP_FREE	117599240192.000000	CURRENT	0.040,326.39,1
CP_POWER	328.190000	GPS	050921,213831,4750.922,-12509.791,6,1.0,30,15.7,0.2,0.0,9,1.7
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	218	95.86	SBE_CT	366	64	574.68
Roll_motor	36	104	92.11	WL_blue_red_Chl	1165	37	1062.27
VBD_pump_during_apogee	540	756	9947.01	nil	0	0	0.00
VBD_pump_during_surface	199	615	2994.84	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	4025	25	2449.21
Iridium_during_xfer	207	100	510.86	nil	0	0	0.00
Transponder_ping	1	420	10.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.04
TT8	1361	12	170.68
LPSleep	859	2	19.31
TT8_Active	758	12	95.12
TT8_Sampling	1563	37	604.66
TT8_CF8	255	42	112.49
TT8_Kalman	0	0	0.00
Analog_circuits	1624	11	183.31
GPS_charging	0	0	0.00
Compass	1394	8	117.90
RAFOS	0	0	0.00
Transponder	9	30	2.78

		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	-0.84	-116.8	172	2032	686	407	0.0	0.0	0	134	0.00	0.00	-105.88	0.011	16386	0.000	0.000	172	2033	3012	2997	3028	0	0	0	0	0	0	26.10	28.83	26.16
137	-0.84	-116.8	172	2033	3001	3028	3.5	-6.5	15	161	8.27	1.00	-5.68	0.030	18724	0.219	0.079	2290	2682	3278	3280	3276	0	0	0	0	0	0	25.78	24.79	25.98
173	-0.84	-116.8	2290	2682	3282	3276	14.9	-30.0	20	182	0.05	1.00	0.00	0.000	3078	0.177	0.031	2306	1974	3279	3283	3275	0	0	0	0	0	0	26.00	26.22	26.09
310	-0.84	-116.8	2306	1973	3287	3274	38.3	-14.1	45	317	0.00	1.08	0.00	0.000	260	0.000	0.043	2303	2688	3280	3287	3274	0	0	0	0	0	0	26.40	26.25	26.45
550	-0.84	-116.8	2302	2688	3290	3274	73.3	-12.5	91	557	0.00	0.98	0.00	0.000	1030	0.000	0.034	2305	2016	3282	3290	3274	0	0	0	0	0	0	26.46	26.44	26.48
681	-0.84	-116.8	2305	2015	3291	3274	91.1	-12.8	116	689	0.00	1.05	0.00	0.000	516	0.000	0.039	2311	1308	3282	3291	3273	0	0	0	0	0	0	26.55	26.44	26.61
770	-0.84	-116.8	2310	1308	3292	3274	102.1	-11.8	132	776	0.00	1.02	0.00	0.000	1030	0.000	0.036	2308	1985	3282	3292	3273	0	0	0	0	0	0	26.52	26.49	26.55
904	-0.84	-116.8	2307	1985	3292	3273	118.6	-12.1	146	908	0.00	1.05	0.00	0.000	260	0.000	0.043	2302	2700	3283	3293	3273	0	0	0	0	0	0	26.53	26.50	26.60
998	-0.84	-116.8	2301	2700	3293	3273	129.5	-11.7	164	1003	0.00	1.02	0.00	0.000	1030	0.000	0.032	2305	1989	3283	3293	3273	0	0	0	0	0	0	26.59	26.58	26.60
1131	-0.84	-116.8	2304	1989	3292	3273	144.6	-11.3	178	1134	0.00	1.00	0.00	0.000	516	0.000	0.040	2310	1310	3283	3293	3273	0	0	0	0	0	0	26.65	26.54	26.70
1165	-0.84	-116.8	2309	1310	3293	3273	148.7	-11.2	185	1173	0.00	1.05	0.00	0.000	1030	0.000	0.104	2307	1999	3283	3293	3273	0	0	0	0	0	0	26.59	26.57	26.61
1295	-0.84	-116.8	2307	1999	3293	3272	162.6	-11.2	198	1299	0.00	1.02	0.00	0.000	260	0.000	0.044	2302	2701	3282	3293	3272	0	0	0	0	0	0	26.68	26.50	26.77
1337	-0.84	-116.8	2301	2701	3293	3272	167.6	-11.1	206	1341	0.00	1.00	0.00	0.000	1030	0.000	0.032	2305	1998	3282	3293	3272	0	0	0	0	0	0	26.63	26.59	26.63
1470	-0.84	-116.8	2304	1998	3293	3272	182.0	-11.1	220	1475	0.00	1.00	0.00	0.000	516	0.000	0.041	2310	1320	3282	3293	3272	0	0	0	0	0	0	26.70	26.53	26.73
1544	-0.84	-116.8	2309	1320	3293	3271	191.1	-12.9	234	1548	0.00	1.02	0.00	0.000	1030	0.000	0.037	2307	2000	3282	3293	3271	0	0	0	0	0	0	26.63	26.60	26.65
1676	-0.84	-116.8	2306	1999	3293	3270	207.9	-13.1	248	1680	0.00	1.02	0.00	0.000	260	0.000	0.044	2301	2700	3282	3293	3271	0	0	0	0	0	0	26.58	26.59	26.65
1758	end dive: TARGET_DEPTH_EXCEEDED
state	1758	begin apogee
1764	-0.18	0.0	2306	1792	3293	3270	218.6	-12.9	264	1963	0.73	0.00	195.30	0.555	10246	0.164	0.000	2521	1791	2799	2853	2746	0	0	0	0	0	0	26.21	25.27	24.81
1968	end apogee: CONTROL_FINISHED_OK
state	1969	begin climb
1970	0.84	116.8	2521	1791	2842	2736	226.3	0.0	284	2165	1.05	1.15	185.32	0.527	11012	0.114	0.037	2845	2497	2318	2441	2195	0	0	0	0	0	0	25.30	25.14	24.68
2219	0.85	126.4	2844	2498	2413	2166	210.6	10.2	328	2228	0.00	1.08	0.00	0.000	1062	0.000	0.041	2848	1800	2289	2413	2166	0	0	0	0	0	0	25.52	25.51	25.55
2348	0.86	132.9	2848	1799	2410	2165	197.7	10.4	341	2368	0.00	1.10	11.65	0.665	8484	0.000	0.044	2845	2498	2250	2379	2121	0	0	0	0	0	0	25.98	25.71	25.20
2412	0.86	132.9	2845	2497	2369	2114	190.8	11.1	353	2416	0.00	1.08	0.00	0.000	1030	0.000	0.046	2848	1792	2241	2369	2114	0	0	0	0	0	0	25.95	25.96	25.98
2547	0.86	132.9	2848	1792	2366	2113	176.1	11.1	367	2550	0.00	1.10	0.00	0.000	260	0.000	0.044	2845	2506	2240	2366	2114	0	0	0	0	0	0	26.19	26.09	26.25
2578	0.86	132.9	2844	2506	2364	2114	172.3	11.2	373	2583	0.00	1.08	0.00	0.000	1030	0.000	0.038	2848	1792	2239	2365	2114	0	0	0	0	0	0	26.18	26.16	26.20
2711	0.87	142.5	2848	1791	2364	2114	158.5	10.2	387	2722	0.00	0.00	3.67	0.757	8230	0.000	0.000	2848	1792	2222	2352	2093	0	0	0	0	0	0	26.29	25.70	25.00
2843	0.89	158.5	2847	1791	2357	2094	145.5	9.8	400	2885	0.10	1.10	32.90	0.583	10532	0.172	0.041	2874	2501	2145	2279	2012	0	0	0	0	0	0	26.15	25.69	25.35
2923	0.89	158.5	2873	2501	2271	2007	136.0	12.1	415	2930	0.00	1.08	0.00	0.000	1030	0.000	0.037	2877	1792	2138	2271	2006	0	0	0	0	0	0	26.08	26.04	26.13
3050	0.89	158.5	2876	1792	2268	2006	120.6	12.3	428	3054	0.00	1.05	0.00	0.000	516	0.000	0.047	2882	1109	2137	2269	2006	0	0	0	0	0	0	26.28	26.17	26.34
3095	0.89	158.5	2881	1109	2268	2006	115.1	12.9	436	3099	0.00	1.05	0.00	0.000	1030	0.000	0.040	2879	1797	2137	2268	2006	0	0	0	0	0	0	26.17	26.15	26.21
3223	0.89	158.5	2878	1797	2266	2006	99.0	12.8	450	3230	0.00	1.05	0.00	0.000	260	0.000	0.045	2874	2492	2136	2266	2006	0	0	0	0	0	0	26.37	26.31	26.46
3314	0.89	158.5	2873	2492	2264	2006	87.1	12.1	467	3322	0.00	1.02	0.00	0.000	1030	0.000	0.038	2877	1801	2135	2264	2006	0	0	0	0	0	0	26.39	26.35	26.39
3452	0.89	158.5	2877	1801	2264	2006	70.7	11.7	492	3459	0.00	1.08	0.00	0.000	516	0.000	0.049	2883	1109	2135	2264	2006	0	0	0	0	0	0	26.51	26.41	26.57
3700	0.93	191.1	2882	1109	2264	2006	46.0	8.8	538	3748	0.00	1.05	42.22	0.533	9254	0.000	0.036	2880	1803	2016	2155	1878	0	0	0	0	0	0	26.53	26.51	25.48
3874	0.93	191.1	2879	1803	2142	1868	30.3	11.1	569	3882	0.00	1.08	0.00	0.000	516	0.000	0.050	2883	1114	2005	2142	1868	0	0	0	0	0	0	26.34	26.16	26.37
3901	0.93	191.1	2882	1114	2140	1868	27.5	11.0	573	3909	0.00	1.05	0.00	0.000	1030	0.000	0.035	2880	1803	2004	2141	1868	0	0	0	0	0	0	26.28	26.25	26.31
4041	0.99	236.2	2879	1802	2139	1867	13.9	8.0	598	4119	0.10	1.12	69.07	0.501	11044	0.152	0.045	2916	1100	1831	1974	1688	0	0	0	0	0	0	26.22	25.49	25.24
4183	end climb: SURFACE_DEPTH_REACHED
state	4183	begin surface coast
4200	end surface coast: CONTROL_FINISHED_OK
state	4201	begin surface