Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 85 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 110

DIVE 85 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 54 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 55 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 541.92499 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 700 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 230 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 260 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 -1 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 97.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 83.800003 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 160 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 -171.33574 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 169.0

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 10

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 83.800003 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 97.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 110 D_TGT 700 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 3 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 230

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 260

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.33574 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 169.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -1

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 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 160 R_PORT_OVSHOOT 54 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 55 XPDR_INHIBIT 90

DIVE 85 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 9 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 200921,230409,4756.5562,-12516.4395,3,1.3,11,15.7,0.2,0.0,8,3.8 SPEED_LIMITS 0.176,0.267

_CALLS 1 TGT_NAME X82_E_SHORT

_XMS_NAKs 0 TGT_LATLONG 4756.700,-12516.086

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 44.1,533,-25.9,-10.145,-30.00,975

_SM_ANGLEo -61.7 D_GRID 263

GPS2 200921,231010,4756.5532,-12516.4551,4,1.3,5,15.7,0.2,0.0,8,6.3

Post-dive calculations and measurements:

FINISH -0.1,1.025496 _24V_AH 24.32,11.505

SM_CCo 5242,171.62,0.614,1,0,589,542.11 _10V_AH 10.18,5.494

SM_GC 0.74,7.88,0.32,171.62,0.058,0.046,0.614,181,2015,589,-7.38,-1.05,542.11,0,0,0,0,1,0,25.94,25.90,24.32 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4756.77,-12513.21,200921,212854 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.149051 MEM 152688

HUMID 53.15 DATA_FILE_SIZE 40091,794

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 93857,0

TCM_TEMP 15.30 CFSIZE 260030464,244084736

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

CP_FREE 78417887232.000000 CURRENT 0.046,215.18,1

CP_POWER 421.650000 GPS 210921,004240,4756.674,-12516.246,26,0.8,27,15.7,0.4,145.3,11,6.6

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 208 93.46 SBE_CT 446 64 698.87

Roll_motor 33 97 80.25 WL_blue_red_Chl 1407 37 1282.17

VBD_pump_during_apogee 457 661 7356.58 nil 0 0 0.00

VBD_pump_during_surface 171 613 2560.83 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 2674 25 1625.79

Iridium_during_xfer 235 100 577.18 nil 0 0 0.00

Transponder_ping 3 420 38.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.22

TT8 1713 12 213.10

LPSleep 1182 2 26.37

TT8_Active 678 12 84.37

TT8_Sampling 1949 37 748.07

TT8_CF8 295 42 129.33

TT8_Kalman 0 0 0.00

Analog_circuits 1642 11 183.90

GPS_charging 0 0 0.00

Compass 1731 8 145.25

RAFOS 0 0 0.00

Transponder 25 30 7.79

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

65 end surface: CONTROL_FINISHED_OK

state 65 begin dive

67 -1.00 -64.7 160 2016 727 443 0.0 0.0 0 175 0.00 0.00 -103.70 0.004 16390 0.000 0.000 160 2016 3064 3051 3077 0 0 0 0 0 0 26.46 24.61 26.52

177 -1.00 -64.7 160 2015 3051 3077 5.1 -10.3 15 192 8.18 1.02 0.00 0.000 2308 0.209 0.032 2254 2722 3066 3056 3077 0 0 0 0 0 0 25.60 25.94 25.78

393 -1.00 -64.7 2253 2725 3073 3065 49.3 -14.4 56 400 0.00 1.08 0.00 0.000 1030 0.000 0.027 2257 1983 3069 3073 3065 0 0 0 0 0 0 26.50 26.46 26.51

524 -1.00 -64.7 2256 1984 3075 3064 66.4 -12.7 81 533 0.00 0.98 0.00 0.000 516 0.000 0.033 2262 1320 3070 3076 3064 0 0 0 0 0 0 26.77 26.47 26.83

708 -1.00 -64.7 2262 1320 3078 3064 89.6 -11.5 115 715 0.00 1.00 0.00 0.000 1030 0.000 0.029 2259 1989 3070 3077 3063 0 0 0 0 0 0 26.60 26.57 26.62

846 -1.02 -80.0 2258 1989 3077 3063 102.9 -8.5 138 854 0.00 0.00 0.00 0.000 38 0.000 0.000 2259 1989 3070 3077 3063 0 0 0 0 0 0 26.89 26.94 26.94

974 -1.02 -80.0 2259 1989 3077 3063 115.6 -10.3 151 978 0.00 1.00 0.00 0.000 516 0.000 0.034 2262 1319 3070 3077 3063 0 0 0 0 0 0 26.91 26.58 26.96

1217 -1.02 -80.0 2261 1319 3077 3063 140.2 -10.2 197 1223 0.00 1.02 0.00 0.000 1030 0.000 0.029 2259 2002 3070 3077 3063 0 0 0 0 0 0 26.70 26.67 26.72

1352 -1.02 -80.0 2258 2002 3077 3062 155.0 -11.4 211 1356 0.00 1.02 0.00 0.000 516 0.000 0.034 2262 1315 3070 3077 3063 0 0 0 0 0 0 26.98 26.65 27.03

1591 -1.02 -81.7 2262 1315 3077 3062 181.3 -10.0 257 1595 0.00 1.02 0.00 0.000 1062 0.000 0.031 2259 2001 3069 3077 3062 0 0 0 0 0 0 26.74 26.71 26.76

1724 -1.02 -81.7 2259 2001 3077 3062 194.9 -10.4 271 1728 0.00 1.02 0.00 0.000 516 0.000 0.034 2262 1310 3069 3077 3062 0 0 0 0 0 0 27.02 26.68 27.08

1968 -1.02 -81.7 2262 1310 3078 3062 220.6 -10.7 317 1972 0.00 1.02 0.00 0.000 1030 0.000 0.028 2259 2003 3069 3077 3061 0 0 0 0 0 0 26.78 26.75 26.80

2103 -1.02 -81.7 2259 2002 3077 3061 234.7 -10.4 331 2107 0.00 1.02 0.00 0.000 516 0.000 0.034 2261 1309 3069 3077 3061 0 0 0 0 0 0 27.05 26.72 27.10

2341 -1.02 -81.7 2262 1309 3077 3061 260.0 -11.5 377 2345 0.00 1.02 0.00 0.000 1030 0.000 0.028 2259 2001 3069 3078 3061 0 0 0 0 0 0 26.79 26.77 26.82

2371 end dive: TARGET_DEPTH_EXCEEDED

state 2371 begin apogee

2376 -0.18 0.0 2259 1777 3078 3060 263.4 -10.6 381 2493 0.88 0.00 107.62 0.607 10246 0.150 0.000 2521 1775 2793 2836 2750 0 0 0 0 0 0 26.01 25.29 24.89

2494 end apogee: CONTROL_FINISHED_OK

state 2494 begin climb

2496 1.02 81.7 2521 1775 2835 2747 267.1 0.0 393 2635 1.25 0.00 131.57 0.591 10246 0.119 0.000 2907 1775 2459 2554 2364 0 0 0 0 0 0 25.55 25.10 24.54

2761 1.02 81.7 2907 1775 2540 2344 246.0 10.5 419 2768 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 1775 2441 2539 2344 0 0 0 0 0 0 25.98 26.06 26.04

2892 1.02 81.7 2906 1775 2537 2344 230.2 12.4 432 2896 0.00 1.00 0.00 0.000 516 0.000 0.046 2912 1131 2440 2537 2344 0 0 0 0 0 0 26.07 26.08 26.15

2935 1.02 81.7 2912 1130 2537 2344 224.7 12.0 440 2939 0.00 1.02 0.00 0.000 1030 0.000 0.040 2909 1798 2440 2537 2344 0 0 0 0 0 0 26.12 26.09 26.10

3069 1.02 81.7 2908 1799 2535 2344 209.2 11.4 454 3074 0.00 1.05 0.00 0.000 260 0.000 0.048 2904 2494 2439 2534 2344 0 0 0 0 0 0 26.41 26.12 26.46

3096 1.02 81.7 2903 2494 2533 2343 205.9 11.8 459 3103 0.00 0.98 0.00 0.000 1030 0.000 0.043 2907 1832 2438 2533 2344 0 0 0 0 0 0 26.32 26.32 26.35

3222 1.02 81.7 2906 1832 2533 2344 191.6 11.4 472 3226 0.00 1.02 0.00 0.000 260 0.000 0.051 2904 2508 2438 2533 2344 0 0 0 0 0 0 26.49 26.31 26.55

3298 1.02 81.7 2904 2508 2532 2343 182.7 11.9 487 3306 0.00 1.05 0.00 0.000 1030 0.000 0.098 2908 1804 2437 2531 2343 0 0 0 0 0 0 26.35 26.30 26.39

3425 1.02 81.7 2907 1804 2532 2344 168.1 11.8 500 3429 0.00 1.08 0.00 0.000 516 0.000 0.050 2913 1105 2438 2532 2344 0 0 0 0 0 0 26.53 26.29 26.60

3519 1.02 81.7 2913 1104 2532 2344 157.6 11.2 518 3523 0.00 1.08 0.00 0.000 1030 0.000 0.036 2910 1809 2438 2532 2344 0 0 0 0 0 0 26.44 26.00 26.48

3651 1.02 81.7 2909 1809 2531 2343 143.4 11.0 532 3655 0.00 1.02 0.00 0.000 260 0.000 0.044 2905 2493 2437 2531 2343 0 0 0 0 0 0 26.52 26.40 26.57

3714 1.02 81.7 2904 2493 2530 2343 136.7 10.3 544 3718 0.00 1.02 0.00 0.000 1030 0.000 0.046 2908 1795 2436 2530 2343 0 0 0 0 0 0 26.46 26.44 26.52

3848 1.02 81.7 2907 1795 2530 2343 122.2 11.4 558 3852 0.00 1.08 0.00 0.000 260 0.000 0.051 2905 2502 2436 2530 2343 0 0 0 0 0 0 26.63 26.41 26.68

3893 1.02 81.7 2904 2502 2529 2343 116.7 10.6 567 3901 0.00 1.05 0.00 0.000 1030 0.000 0.037 2908 1792 2436 2530 2342 0 0 0 0 0 0 26.50 26.47 26.53

4023 1.02 81.7 2907 1792 2529 2343 104.0 10.7 580 4027 0.00 1.05 0.00 0.000 516 0.000 0.050 2913 1108 2436 2529 2343 0 0 0 0 0 0 26.63 26.31 26.70

4258 1.04 96.7 2913 1107 2529 2343 79.7 8.6 626 4268 0.00 1.05 3.65 0.662 9254 0.000 0.041 2910 1800 2406 2505 2307 0 0 0 0 0 0 26.51 26.46 24.78

4396 1.07 122.0 2909 1800 2512 2313 68.6 7.5 651 4445 0.08 1.02 41.62 0.564 10532 0.176 0.047 2924 2510 2295 2409 2181 0 0 0 0 0 0 26.39 25.60 25.21

4453 1.07 122.0 2923 2511 2400 2172 62.7 11.0 659 4460 0.00 1.08 0.00 0.000 1030 0.000 0.036 2927 1793 2284 2398 2170 0 0 0 0 0 0 26.13 26.11 26.14

4590 1.08 126.2 2927 1793 2394 2168 47.9 9.7 684 4597 0.00 1.05 0.00 0.000 548 0.000 0.053 2932 1106 2281 2394 2168 0 0 0 0 0 0 26.36 26.18 26.41

4753 1.08 126.2 2932 1106 2392 2168 32.9 10.2 715 4760 0.00 1.08 0.00 0.000 1030 0.000 0.037 2929 1811 2280 2392 2168 0 0 0 0 0 0 26.34 26.32 26.36

4886 1.14 183.5 2929 1811 2391 2167 24.1 4.1 740 4992 0.10 1.02 97.47 0.525 10532 0.177 0.050 2947 2506 2045 2180 1910 0 0 0 0 0 0 26.17 25.25 24.91

5082 1.20 233.5 2946 2506 2159 1893 9.2 4.9 772 5164 0.05 1.08 75.18 0.505 11302 0.182 0.045 2968 1791 1845 1986 1704 0 0 0 0 0 0 25.67 25.96 24.77

5201 end climb: SURFACE_DEPTH_REACHED

state 5201 begin surface coast

5223 end surface coast: CONTROL_FINISHED_OK

state 5223 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	110
DIVE	85	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	54	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	55	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	541.92499	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	700	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	230	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	260	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	-1	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	97.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	83.800003	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	160	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	-171.33574	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	169.0
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	10
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	200921,230409,4756.5562,-12516.4395,3,1.3,11,15.7,0.2,0.0,8,3.8	SPEED_LIMITS	0.176,0.267
_CALLS	1	TGT_NAME	X82_E_SHORT
_XMS_NAKs	0	TGT_LATLONG	4756.700,-12516.086
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	44.1,533,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-61.7	D_GRID	263
GPS2	200921,231010,4756.5532,-12516.4551,4,1.3,5,15.7,0.2,0.0,8,6.3

FINISH	-0.1,1.025496	_24V_AH	24.32,11.505
SM_CCo	5242,171.62,0.614,1,0,589,542.11	_10V_AH	10.18,5.494
SM_GC	0.74,7.88,0.32,171.62,0.058,0.046,0.614,181,2015,589,-7.38,-1.05,542.11,0,0,0,0,1,0,25.94,25.90,24.32	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4756.77,-12513.21,200921,212854	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.149051	MEM	152688
HUMID	53.15	DATA_FILE_SIZE	40091,794
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	93857,0
TCM_TEMP	15.30	CFSIZE	260030464,244084736
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	78417887232.000000	CURRENT	0.046,215.18,1
CP_POWER	421.650000	GPS	210921,004240,4756.674,-12516.246,26,0.8,27,15.7,0.4,145.3,11,6.6
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	208	93.46	SBE_CT	446	64	698.87
Roll_motor	33	97	80.25	WL_blue_red_Chl	1407	37	1282.17
VBD_pump_during_apogee	457	661	7356.58	nil	0	0	0.00
VBD_pump_during_surface	171	613	2560.83	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	2674	25	1625.79
Iridium_during_xfer	235	100	577.18	nil	0	0	0.00
Transponder_ping	3	420	38.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.22
TT8	1713	12	213.10
LPSleep	1182	2	26.37
TT8_Active	678	12	84.37
TT8_Sampling	1949	37	748.07
TT8_CF8	295	42	129.33
TT8_Kalman	0	0	0.00
Analog_circuits	1642	11	183.90
GPS_charging	0	0	0.00
Compass	1731	8	145.25
RAFOS	0	0	0.00
Transponder	25	30	7.79

		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
65	end surface: CONTROL_FINISHED_OK
state	65	begin dive
67	-1.00	-64.7	160	2016	727	443	0.0	0.0	0	175	0.00	0.00	-103.70	0.004	16390	0.000	0.000	160	2016	3064	3051	3077	0	0	0	0	0	0	26.46	24.61	26.52
177	-1.00	-64.7	160	2015	3051	3077	5.1	-10.3	15	192	8.18	1.02	0.00	0.000	2308	0.209	0.032	2254	2722	3066	3056	3077	0	0	0	0	0	0	25.60	25.94	25.78
393	-1.00	-64.7	2253	2725	3073	3065	49.3	-14.4	56	400	0.00	1.08	0.00	0.000	1030	0.000	0.027	2257	1983	3069	3073	3065	0	0	0	0	0	0	26.50	26.46	26.51
524	-1.00	-64.7	2256	1984	3075	3064	66.4	-12.7	81	533	0.00	0.98	0.00	0.000	516	0.000	0.033	2262	1320	3070	3076	3064	0	0	0	0	0	0	26.77	26.47	26.83
708	-1.00	-64.7	2262	1320	3078	3064	89.6	-11.5	115	715	0.00	1.00	0.00	0.000	1030	0.000	0.029	2259	1989	3070	3077	3063	0	0	0	0	0	0	26.60	26.57	26.62
846	-1.02	-80.0	2258	1989	3077	3063	102.9	-8.5	138	854	0.00	0.00	0.00	0.000	38	0.000	0.000	2259	1989	3070	3077	3063	0	0	0	0	0	0	26.89	26.94	26.94
974	-1.02	-80.0	2259	1989	3077	3063	115.6	-10.3	151	978	0.00	1.00	0.00	0.000	516	0.000	0.034	2262	1319	3070	3077	3063	0	0	0	0	0	0	26.91	26.58	26.96
1217	-1.02	-80.0	2261	1319	3077	3063	140.2	-10.2	197	1223	0.00	1.02	0.00	0.000	1030	0.000	0.029	2259	2002	3070	3077	3063	0	0	0	0	0	0	26.70	26.67	26.72
1352	-1.02	-80.0	2258	2002	3077	3062	155.0	-11.4	211	1356	0.00	1.02	0.00	0.000	516	0.000	0.034	2262	1315	3070	3077	3063	0	0	0	0	0	0	26.98	26.65	27.03
1591	-1.02	-81.7	2262	1315	3077	3062	181.3	-10.0	257	1595	0.00	1.02	0.00	0.000	1062	0.000	0.031	2259	2001	3069	3077	3062	0	0	0	0	0	0	26.74	26.71	26.76
1724	-1.02	-81.7	2259	2001	3077	3062	194.9	-10.4	271	1728	0.00	1.02	0.00	0.000	516	0.000	0.034	2262	1310	3069	3077	3062	0	0	0	0	0	0	27.02	26.68	27.08
1968	-1.02	-81.7	2262	1310	3078	3062	220.6	-10.7	317	1972	0.00	1.02	0.00	0.000	1030	0.000	0.028	2259	2003	3069	3077	3061	0	0	0	0	0	0	26.78	26.75	26.80
2103	-1.02	-81.7	2259	2002	3077	3061	234.7	-10.4	331	2107	0.00	1.02	0.00	0.000	516	0.000	0.034	2261	1309	3069	3077	3061	0	0	0	0	0	0	27.05	26.72	27.10
2341	-1.02	-81.7	2262	1309	3077	3061	260.0	-11.5	377	2345	0.00	1.02	0.00	0.000	1030	0.000	0.028	2259	2001	3069	3078	3061	0	0	0	0	0	0	26.79	26.77	26.82
2371	end dive: TARGET_DEPTH_EXCEEDED
state	2371	begin apogee
2376	-0.18	0.0	2259	1777	3078	3060	263.4	-10.6	381	2493	0.88	0.00	107.62	0.607	10246	0.150	0.000	2521	1775	2793	2836	2750	0	0	0	0	0	0	26.01	25.29	24.89
2494	end apogee: CONTROL_FINISHED_OK
state	2494	begin climb
2496	1.02	81.7	2521	1775	2835	2747	267.1	0.0	393	2635	1.25	0.00	131.57	0.591	10246	0.119	0.000	2907	1775	2459	2554	2364	0	0	0	0	0	0	25.55	25.10	24.54
2761	1.02	81.7	2907	1775	2540	2344	246.0	10.5	419	2768	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	1775	2441	2539	2344	0	0	0	0	0	0	25.98	26.06	26.04
2892	1.02	81.7	2906	1775	2537	2344	230.2	12.4	432	2896	0.00	1.00	0.00	0.000	516	0.000	0.046	2912	1131	2440	2537	2344	0	0	0	0	0	0	26.07	26.08	26.15
2935	1.02	81.7	2912	1130	2537	2344	224.7	12.0	440	2939	0.00	1.02	0.00	0.000	1030	0.000	0.040	2909	1798	2440	2537	2344	0	0	0	0	0	0	26.12	26.09	26.10
3069	1.02	81.7	2908	1799	2535	2344	209.2	11.4	454	3074	0.00	1.05	0.00	0.000	260	0.000	0.048	2904	2494	2439	2534	2344	0	0	0	0	0	0	26.41	26.12	26.46
3096	1.02	81.7	2903	2494	2533	2343	205.9	11.8	459	3103	0.00	0.98	0.00	0.000	1030	0.000	0.043	2907	1832	2438	2533	2344	0	0	0	0	0	0	26.32	26.32	26.35
3222	1.02	81.7	2906	1832	2533	2344	191.6	11.4	472	3226	0.00	1.02	0.00	0.000	260	0.000	0.051	2904	2508	2438	2533	2344	0	0	0	0	0	0	26.49	26.31	26.55
3298	1.02	81.7	2904	2508	2532	2343	182.7	11.9	487	3306	0.00	1.05	0.00	0.000	1030	0.000	0.098	2908	1804	2437	2531	2343	0	0	0	0	0	0	26.35	26.30	26.39
3425	1.02	81.7	2907	1804	2532	2344	168.1	11.8	500	3429	0.00	1.08	0.00	0.000	516	0.000	0.050	2913	1105	2438	2532	2344	0	0	0	0	0	0	26.53	26.29	26.60
3519	1.02	81.7	2913	1104	2532	2344	157.6	11.2	518	3523	0.00	1.08	0.00	0.000	1030	0.000	0.036	2910	1809	2438	2532	2344	0	0	0	0	0	0	26.44	26.00	26.48
3651	1.02	81.7	2909	1809	2531	2343	143.4	11.0	532	3655	0.00	1.02	0.00	0.000	260	0.000	0.044	2905	2493	2437	2531	2343	0	0	0	0	0	0	26.52	26.40	26.57
3714	1.02	81.7	2904	2493	2530	2343	136.7	10.3	544	3718	0.00	1.02	0.00	0.000	1030	0.000	0.046	2908	1795	2436	2530	2343	0	0	0	0	0	0	26.46	26.44	26.52
3848	1.02	81.7	2907	1795	2530	2343	122.2	11.4	558	3852	0.00	1.08	0.00	0.000	260	0.000	0.051	2905	2502	2436	2530	2343	0	0	0	0	0	0	26.63	26.41	26.68
3893	1.02	81.7	2904	2502	2529	2343	116.7	10.6	567	3901	0.00	1.05	0.00	0.000	1030	0.000	0.037	2908	1792	2436	2530	2342	0	0	0	0	0	0	26.50	26.47	26.53
4023	1.02	81.7	2907	1792	2529	2343	104.0	10.7	580	4027	0.00	1.05	0.00	0.000	516	0.000	0.050	2913	1108	2436	2529	2343	0	0	0	0	0	0	26.63	26.31	26.70
4258	1.04	96.7	2913	1107	2529	2343	79.7	8.6	626	4268	0.00	1.05	3.65	0.662	9254	0.000	0.041	2910	1800	2406	2505	2307	0	0	0	0	0	0	26.51	26.46	24.78
4396	1.07	122.0	2909	1800	2512	2313	68.6	7.5	651	4445	0.08	1.02	41.62	0.564	10532	0.176	0.047	2924	2510	2295	2409	2181	0	0	0	0	0	0	26.39	25.60	25.21
4453	1.07	122.0	2923	2511	2400	2172	62.7	11.0	659	4460	0.00	1.08	0.00	0.000	1030	0.000	0.036	2927	1793	2284	2398	2170	0	0	0	0	0	0	26.13	26.11	26.14
4590	1.08	126.2	2927	1793	2394	2168	47.9	9.7	684	4597	0.00	1.05	0.00	0.000	548	0.000	0.053	2932	1106	2281	2394	2168	0	0	0	0	0	0	26.36	26.18	26.41
4753	1.08	126.2	2932	1106	2392	2168	32.9	10.2	715	4760	0.00	1.08	0.00	0.000	1030	0.000	0.037	2929	1811	2280	2392	2168	0	0	0	0	0	0	26.34	26.32	26.36
4886	1.14	183.5	2929	1811	2391	2167	24.1	4.1	740	4992	0.10	1.02	97.47	0.525	10532	0.177	0.050	2947	2506	2045	2180	1910	0	0	0	0	0	0	26.17	25.25	24.91
5082	1.20	233.5	2946	2506	2159	1893	9.2	4.9	772	5164	0.05	1.08	75.18	0.505	11302	0.182	0.045	2968	1791	1845	1986	1704	0	0	0	0	0	0	25.67	25.96	24.77
5201	end climb: SURFACE_DEPTH_REACHED
state	5201	begin surface coast
5223	end surface coast: CONTROL_FINISHED_OK
state	5223	begin surface